Merge pull request #54 from clearpathrobotics/ONAV-2707

added emergency stop watchdog
clearpathrobotics · Sep 27, 2024 · 368be62 · 368be62
2 parents f44f3f4 + f048e51
commit 368be62
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Showing 5 changed files with 17 additions and 0 deletions.
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ rosidl_generate_interfaces(
         msg/WatchdogConfigArray.msg
         msg/WatchdogConfigCommon.msg
         msg/WatchdogConfigCommunication.msg
+        msg/WatchdogConfigEmergencyStop.msg
         msg/WatchdogConfigHeartbeat.msg
         msg/WatchdogConfigInclination.msg
         msg/WatchdogConfigNodeletStatus.msg
@@ -27,6 +28,7 @@ rosidl_generate_interfaces(
         msg/WatchdogStatus.msg
         msg/WatchdogStatusArray.msg
         srv/AddCommunicationWatchdog.srv
+        srv/AddEmergencyStopWatchdog.srv
         srv/AddHeartbeatWatchdog.srv
         srv/AddInclinationWatchdog.srv
         srv/AddNodeletStatusWatchdog.srv
@@ -37,6 +39,7 @@ rosidl_generate_interfaces(
         srv/AddTopicDataWatchdog.srv
         srv/RemoveWatchdog.srv
         srv/UpdateCommunicationWatchdog.srv
+        srv/UpdateEmergencyStopWatchdog.srv
         srv/UpdateHeartbeatWatchdog.srv
         srv/UpdateInclinationWatchdog.srv
         srv/UpdateNodeletStatusWatchdog.srv

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg
@@ -3,6 +3,7 @@
 
 
 WatchdogConfigCommunication[] communication_config
+WatchdogConfigEmergencyStop[] emergency_stop_config
 WatchdogConfigHeartbeat[] heartbeat_config
 WatchdogConfigInclination[] inclination_config
 WatchdogConfigNodeStatus[] node_status_config

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigEmergencyStop.msg
@@ -0,0 +1,3 @@
+WatchdogConfigCommon base_config
+string topic
+float32 timeout
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddEmergencyStopWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigEmergencyStop config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateEmergencyStopWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateEmergencyStopWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigEmergencyStop new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success