IGVC Emergency Stop

This package allows to implement the E Stop with brakes functionality. It creates a node that listens to e stop signal from arduino and upon button press sends signal to pure_pursuit node that sets all the velocity values to zero, making the car stop.

Requires

Following are the requirements for the package.

• Python 2.7
• ROS Melodic

Building the package

catkin build  

or

catkin_make  

Running the package

roslaunch

To launch the package, simple use roslaunch command.

source devel/setup.bash 
roslaunch igvc_estop estop_listener_node.launch

Using roslaunch won't require launching roscore separately.

rosrun

To run the package, simple use rosrun command.

source devel/setup.bash 
rosparam set "estop_topic_name" "gem_estop" 
rosrun igvc_estop estop_listener.py 

Before running rosrun, make sure roscore is running.

Usage

The node estop_btn_event_listener will listen to the rostopic (default="gem_estop") mentioned in the file estop_listener_node.launch. If the topic gem_estop value is set to true, estop_btn_event_listenersends signal to pure_pursuit node that sets all the velocity values to zero, making the car stop.