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Add ability to change mode #13

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jacobperron opened this issue Mar 28, 2016 · 5 comments
Open

Add ability to change mode #13

jacobperron opened this issue Mar 28, 2016 · 5 comments

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@jacobperron
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Could have a subscriber that listens to a custom message for changing the mode of Create (OFF, PASSIVE, SAFE, and FULL). Or as a minimum, have a parameter to the node that starts the robot in SAFE or FULL mode.

@jacobperron
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Added functionality to set-modes branch. Will merge after testing.

@andrewrgross
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@jacobperron I'm trying to send a Roomba a command to go into passive mode from ROS. How far did you get with this branch?

@jacobperron
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@andrewrgross It was so long ago, I don't recall exactly why I stopped working on this. If I remember correctly, the branch is pretty much feature-complete, but I may have ran into a bug/behaviour issue that I didn't resolve.

@matttsmith
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@andrewrgross Did you find anything? I'm going to start working on this as well - just started working with ROS on a Roomba Create 2.

@andrewrgross
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I did actually! It may or may not be useful to you depending on your function, but it turns out that if you send a docking command and it docks, it goes into passive mode! This is the command:

rostopic pub -1 dock std_msgs/Empty

If it's on the dock and you press this, it goes passive, and then if you undock, it becomes active again:

rostopic pub -1 undock std_msgs/Empty

I included a bit more info here: https://crashbot.atlassian.net/wiki/spaces/BOT/pages/31293441/Power

and here: https://crashbot.atlassian.net/wiki/spaces/BOT/pages/32014337/State+Overview

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