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feat: publish collision string message during emergency stop (Resolves #159) #160

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feat: publish collision string message during emergency stop (Resolves #159) #160

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3 changes: 3 additions & 0 deletions rmf_robot_sim_common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ find_package(eigen3_cmake_module REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(rmf_fleet_msgs REQUIRED)
Expand Down Expand Up @@ -74,6 +75,7 @@ target_link_libraries(slotcar_common
Eigen3::Eigen
rclcpp::rclcpp
${geometry_msgs_TARGETS}
${std_msgs_TARGETS}
${rmf_fleet_msgs_TARGETS}
${rmf_building_map_msgs_TARGETS}
tf2_ros::tf2_ros
Expand All @@ -91,6 +93,7 @@ target_include_directories(slotcar_common
ament_export_dependencies(
Eigen3
rclcpp
std_msgs
geometry_msgs
tf2_ros
rmf_fleet_msgs
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2 changes: 2 additions & 0 deletions rmf_robot_sim_common/include/rmf_robot_sim_common/slotcar_common.hpp
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Expand Up @@ -25,6 +25,7 @@
#include <tf2_ros/transform_broadcaster.h>

#include <geometry_msgs/msg/transform_stamped.hpp>
#include <std_msgs/msg/string.hpp>
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@arjo129 arjo129 Mar 16, 2026

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Thanks for this PR! Do you think that we should use string or some other custom message?

#include <rmf_fleet_msgs/msg/robot_mode.hpp>
#include <rmf_fleet_msgs/msg/robot_state.hpp>
#include <rmf_fleet_msgs/msg/path_request.hpp>
Expand Down Expand Up @@ -174,6 +175,7 @@ class SlotcarCommon

std::shared_ptr<tf2_ros::TransformBroadcaster> _tf2_broadcaster;
rclcpp::Publisher<rmf_fleet_msgs::msg::RobotState>::SharedPtr _robot_state_pub;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr _collision_pub;

rclcpp::Subscription<rmf_fleet_msgs::msg::PathRequest>::SharedPtr _traj_sub;
rclcpp::Subscription<rmf_fleet_msgs::msg::PauseRequest>::SharedPtr _pause_sub;
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1 change: 1 addition & 0 deletions rmf_robot_sim_common/package.xml
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Expand Up @@ -16,6 +16,7 @@
<depend>eigen</depend>
<depend>rclcpp</depend>
<depend>geometry_msgs</depend>
<depend>std_msgs</depend>
<depend>tf2_ros</depend>
<depend>rmf_fleet_msgs</depend>
<depend>rmf_building_map_msgs</depend>
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10 changes: 10 additions & 0 deletions rmf_robot_sim_common/src/slotcar_common.cpp
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Expand Up @@ -211,6 +211,10 @@ void SlotcarCommon::init_ros_node(const rclcpp::Node::SharedPtr node)
_ros_node->create_publisher<rmf_fleet_msgs::msg::RobotState>(
"/robot_state", 10);

_collision_pub =
_ros_node->create_publisher<std_msgs::msg::String>(
"/robot_collisions", 10);

auto qos_profile = rclcpp::QoS(10);
qos_profile.transient_local();
_building_map_sub =
Expand Down Expand Up @@ -842,8 +846,14 @@ bool SlotcarCommon::emergency_stop(
// TODO flush logger here
// TODO get collision object name
if (need_to_stop)
{
RCLCPP_INFO_STREAM(logger(), "Stopping [" << _model_name <<
"] to avoid a collision");

std_msgs::msg::String msg;
msg.data = _model_name;
_collision_pub->publish(msg);
}
else
RCLCPP_INFO_STREAM(logger(), "No more obstacles; resuming course for [" <<
_model_name << "]");
Expand Down