From 247e0bcfca47f11a3ccf144858a2183ca7c70608 Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Tue, 20 Dec 2022 10:23:52 +0100 Subject: [PATCH] Add twist_mux yaml files --- config/ana_mux_locks.yaml | 20 ++++++++++++++++++++ config/ana_mux_topics.yaml | 24 ++++++++++++++++++++++++ 2 files changed, 44 insertions(+) create mode 100644 config/ana_mux_locks.yaml create mode 100644 config/ana_mux_topics.yaml diff --git a/config/ana_mux_locks.yaml b/config/ana_mux_locks.yaml new file mode 100644 index 0000000..224a7e8 --- /dev/null +++ b/config/ana_mux_locks.yaml @@ -0,0 +1,20 @@ +########################################################## +### LOCKS +########################################################## + +# Locks to stop the twist inputs. +# For each lock: +# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!! +# - timeout : == 0.0 -> not used +# > 0.0 -> the lock is supposed to published at a certain frequency in order +# to detect that the publisher is alive; the timeout in seconds allows +# to detect that, and if the publisher dies we will enable the lock +# - priority: priority in the range [0, 255], so all the topics with priority lower than it +# will be stopped/disabled + +locks: +- name : pause + topic : pause_navigation + timeout : 0.0 + # Same priority as joystick control, so it'll not block it. + priority: 100 diff --git a/config/ana_mux_topics.yaml b/config/ana_mux_topics.yaml new file mode 100644 index 0000000..93a85bb --- /dev/null +++ b/config/ana_mux_topics.yaml @@ -0,0 +1,24 @@ +########################################################## +### TOPICS +########################################################## + +# Input topics handled/muxed. +# For each topic: +# - name : name identifier to select the topic +# - topic : input topic of geometry_msgs::Twist type +# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead +# - priority: priority in the range [0, 255]; the higher the more priority over other topics + +topics: +- name : default + topic : /ana/default/cmd_vel + timeout : 0.1 + priority: 0 +- name : navigation + topic : /ana/navigation/cmd_vel + timeout : 0.5 + priority: 5 +- name : teleop + topic : /ana/teleop/cmd_vel + timeout : 0.1 + priority: 10 -- GitLab