add estop #196
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add estop #196
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| estop = rospy.get_param("estop", False) | ||
| if estop: | ||
| print("Emergency Stop!!! Robot returns to dock") | ||
| spotskillmanager = SpotSkillManager( | ||
| use_mobile_pick=True, use_semantic_place=True | ||
| ) | ||
| spotskillmanager.dock() | ||
| self.end = True | ||
| raise SystemExit |
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Hi Jimmy,
I think what I was thinking for e-stop is that we can just let robot "settle down" like with do in spot_estop functionality.
If we raise errors then we are killing out the node which is not necessarily what we want to do?
Want to know your thoughts.
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skill_executor.py now will listen to the rospy to determine if we want to terminate the current skills and go back to dock