README.md

This package is part of ROS/IOP Bridge.

fkie_iop_platform_state: PlatformState

Supports state changes of whole robot. On set emergency all components with management service are set into emergency state.

Parameter:

init_platform_state (int, (Default: 1)

Default state on start: 0: "initialize", 1: "operational", 2: "shutdown", 3: "system_abort", 4: "emergency", 5: "render_useless"

supported_states ([string], (Default: ["OPERATIONAL", "EMERGENCY"])

A list with supported states. Possible entries: "initialize", "operational", "shutdown", "system_abort", "emergency", "render_useless"

Publisher:

set_platform_state (std_msgs::UInt8)

Publishes the state to set to ROS.

set_platform_state_str (std_msgs::String)

Like set_platform_state with state as string.

Subscriber:

robot_platform_state (std_msgs::UInt8)

ROS componets can report the current state of the robot by publishing the state to this topic. This state will be only reported to control client!

robot_platform_state_str (std_msgs::String)

The same as robot_platform_state with string type.

fkie_iop_platform_state: PlatformStateClient

This service can be used by other service to query or set the state of the platfrom.

Parameter:

hz (double Default: 0.0)

Specifies the rate at which state is reported from robot, in Hertz. By 0 tries to create an event to get states on change.

Publisher:

platform_state (std_msgs::UInt8)

Publishes reported state of robot to ROS.

platform_state_str (std_msgs::String)

Like platform_state_str with state as string.

Subscriber:

cmd_platform_state (std_msgs::UInt8)

Forwards the commands to change the state to the robot. You need a granded access to be able to change the state!

cmd_platform_state_str (std_msgs::String)

Like cmd_platform_state_str with state as string.