ObjectControl

A module for controlling test objects according to the ISO 22133 standard.

About the module

This module has many responsibilities: - Establishes and tracks connections with all test objects - Keeps track of test object states - Collects position data from objects, and record that data - Transmit safety heartbeats to the objects - Configures objects with trajectories and other settings - Convert input from other modules into or from the ISO 22133 protocol - Hold the ATOS system state (ISO 22133 control center status) - Convert positional data into VUT-relative coordinates, if desired

ROS parameters

The following ROS parameters can be set for ObjectControl:

atos:
  object_control:
    ros__parameters:
      max_missing_heartbeats: 1     # The number of position update (MONR) message periods that are allowed to pass since the last received message before an abort signal is sent to all objects. 
      transmitter_id: 110           # The ISO 22133 transmitted id to be used for ATOS.

Examples

Example 1

At most 3 position updates missing, and transmitter ID set to 175:

atos:
  object_control:
    ros__parameters:
      max_missing_heartbeats: 3
      transmitter_id: 175