Moving
Description
Use a hysteresis on robot position to know whether the robot is moving.
Parameters
| Parameter | Description | Type | Default |
|---|---|---|---|
| odom_topic | Topic from where odom is used to know if the robot is moving | str | "/odom" |
| speed_threshold | Speed threshold used in the hysteresis | float | 0.2 |
| count_limit | Counter to know if the robot is moving | int | 8 |
| count_hysteresis | Hysteresis counter | int | 5 |
Configuration
Only record camera images while the robot is stationary
(dc_demos/params/qrcodes_stdout.yaml):
measurement_server:
ros__parameters:
condition_plugins: ["moving"]
moving:
plugin: "dc_conditions/Moving"
right_camera:
plugin: "dc_measurements/Camera"
if_none_conditions: ["moving"]
topic_output: "/dc/measurement/right_camera"
cam_topic: "/right_intel_realsense_r200_depth/image_raw"