A small helper node that stops and restarts ROS controllers based on a boolean status topic. When the status goes to false, all running controllers except a set of predefined consistent_controllers get stopped. If status returns to true the stopped controllers are restarted.
Consistent controllers will not be stopped when the robot stops. Defaults to ["joint_state_controller"]
controller_manager/list_controllers (controller_manager_msgs/ListControllers)
Controller manager service to list controllers
controller_manager/switch_controller (controller_manager_msgs/SwitchController)
Controller manager service to switch controllers
robot_running (std_msgs/Bool)
Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes on changes. However, this node only reacts on state changes, so a state published each cycle would also be fine.