feat: warn if eStop() is called on mcu

fjp · fjp · commit 72ba1c0ee835 · 2022-01-22T16:29:37.000+01:00
diff --git a/diffbot_base/scripts/base_controller/src/main.cpp b/diffbot_base/scripts/base_controller/src/main.cpp
@@ -46,6 +46,7 @@ void loop()
     command_dt = nh.now() - base_controller.lastUpdateTime().command_received;
     if (command_dt.toSec() >= ros::Duration(E_STOP_COMMAND_RECEIVED_DURATION, 0).toSec())
     {
+        nh.logwarn("Emergency STOP");
         base_controller.eStop();
     }
 

Original file line number	Diff line number	Diff line change
`@@ -46,6 +46,7 @@ void loop()`
`46`	`46`	`command_dt = nh.now() - base_controller.lastUpdateTime().command_received;`
`47`	`47`	`if (command_dt.toSec() >= ros::Duration(E_STOP_COMMAND_RECEIVED_DURATION, 0).toSec())`
`48`	`48`	`{`
	`49`	`+ nh.logwarn("Emergency STOP");`
`49`	`50`	`base_controller.eStop();`
`50`	`51`	`}`
`51`	`52`