https://github.com/universalrobots/universal_robots_ros_driver-release
ROS release repository for the UR ROS driver
https://github.com/universalrobots/universal_robots_ros_driver-release
Last synced: 6 months ago
JSON representation
ROS release repository for the UR ROS driver
- Host: GitHub
- URL: https://github.com/universalrobots/universal_robots_ros_driver-release
- Owner: UniversalRobots
- License: apache-2.0
- Created: 2022-12-09T09:08:30.000Z (about 3 years ago)
- Default Branch: debian/noetic/buster/controller_stopper
- Last Pushed: 2025-05-20T11:02:50.000Z (7 months ago)
- Last Synced: 2025-06-10T05:37:01.843Z (6 months ago)
- Language: C++
- Size: 2.61 MB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- License: LICENSE
Awesome Lists containing this project
README
# controller_stopper
A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to `false`, all running controllers except a set of predefined *consistent_controllers* get stopped. If status returns to `true` the stopped controllers are restarted.
## Nodes
### controller_stopper_node
#### Parameters
##### consistent_controllers (default: ["joint_state_controller"])
Consistent controllers will not be stopped when the robot stops. Defaults to ["joint_state_controller"]
#### Service Clients
##### controller_manager/list_controllers ([controller_manager_msgs/ListControllers](http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html))
Controller manager service to list controllers
##### controller_manager/switch_controller ([controller_manager_msgs/SwitchController](http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html))
Controller manager service to switch controllers
#### Subscribed topics
##### robot_running ([std_msgs/Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html))
Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.