HRI Safety Sense

Installing the ROS Node

This node is now compatible with ROS Melodic, and builds in catkin. It launches a wrapper node C Driver that exposes a serial interface to the VSC.

Installation requires either this folder (named hri_safety_sense) or the cloned git repo "hri-safe-remote-control-system" to be in the 'src' directory of your ROS workspace.

Build the package with either

catkin_make

or

catkin_build

if you have catkin tools installed. Install with: sudo apt-get install python-catkin-tools

Launching the ROS Node

This package has an included launch file (located in hri_safety_sense/launch/) that can be used to launch the node. The command to use this file is

roslaunch hri_safety_sense vsc_interface.launch safety_port:=${port} vsc_interface_enable:=${yN}

There are two arguments listed in the launch file:

• safety_port: the serial port that the device is on (default is /dev/ttyACM0)
• vsc_interface_enable: a predicate that stops the node from launching if set false (default is true).

Another method of launching the ROS node is by using the command:

rosrun hri_safety_sense safe_remote_control

Using the launch file is recommended, however, because it is setup to auto-restart the node should it die unexpectedly.

ROS Topics:

Running this node exposes the following topics:

• /safety/emergency_stop

Updates to Build System

As of July 2019, this node is updated to be compatible with catkin.

The functionality of this package is also exported as a library that can be imported by other catkin packages in a ROS environment, enabling other nodes to talk to the VSC.

Testing

This node has been tested with a point-to-point configuration with a wired EStop Button, as well as a Wireless EStop Device.

Further testing with multi-point configurations, and configurations with a SRC are needed.

####Authorship In addition to HRI/Fort Robotics Robotics, this node was contributed to and maintained by Jackson Stanhope with support from Greenzie.