controller_stopper

A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to false, all running controllers except a set of predefined consistent_controllers get stopped. If status returns to true the stopped controllers are restarted.

Nodes

controller_stopper_node

Parameters

consistent_controllers (default: [“joint_state_controller”])

Consistent controllers will not be stopped when the robot stops. Defaults to [“joint_state_controller”]

Service Clients

controller_manager/list_controllers (controller_manager_msgs/ListControllers)

Controller manager service to list controllers

controller_manager/switch_controller (controller_manager_msgs/SwitchController)

Controller manager service to switch controllers

Subscribed topics

robot_running (std_msgs/Bool)

Subscribes to a robot’s running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.