Teleop and Network disconnections

asked 2012-02-17 16:49:35 -0600

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I apologise if I've missed this on the way through, but is there a standard or conventional method for dealing with disconnections between the network and a tele-operator ?

My platform was chosen for it's off-road ability, so when I had a brief wifi hiccup the robot had climbed a mound of papers, mounted a nearby Pioneer 3 and had paused to contemplate the location of the nearest small child before I could hit the physical stop button.

I've contemplated sending a simple keep-alive message every 500ms or so, but it doesn't look like other people are doing this. How do people ensure they are in control of their robot in teleop ?

answered 2012-02-17 21:00:28 -0600

Stefan Kohlbrecher

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Not sure there is a established standard best practice for ROS, but I´ve had good success with sending geometry_msgs/Twist messages at a fixed rate (say 10Hz) during teleop and stopping the robot as soon as no message has been received for a parametrizable time (say 300ms). An example of this scheme was implemented directly on the Arduino microcontroller of this robot and it works well so far.

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Thanks, that looks like the go, It looks like the joy node has an autorepeat_rate parameter which will work nicely. Until the device is a little more tested I think I'll use a deadman switch, and the autorepeat will make it easy to keep track of my deadman button. Cheers

Tim S ( 2012-02-17 22:27:22 -0600 )edit

Some kind of fail-safe heartbeat is essential when controlling a robot remotely. If communication is lost, the robot should do an immediate emergency stop.

joq ( 2012-02-18 02:31:01 -0600 )edit

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