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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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7953bbf
feat: publish collision string message during emergency stop (Resolve…
yenode Mar 14, 2026
998a808
feat: update emergency_stop to use RobotCollision message
yenode Apr 14, 2026
2bf635a
trigger CI
yenode Apr 16, 2026
9d9cba4
Merge branch 'main' into main
mxgrey May 4, 2026
c924ead
Remove unnecessary addition of std_msgs
mxgrey May 4, 2026
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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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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
#include <tf2_ros/transform_broadcaster.h>

#include <geometry_msgs/msg/transform_stamped.hpp>
#include <rmf_fleet_msgs/msg/robot_collision.hpp>
#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<rmf_fleet_msgs::msg::RobotCollision>::SharedPtr _collision_pub;

rclcpp::Subscription<rmf_fleet_msgs::msg::PathRequest>::SharedPtr _traj_sub;
rclcpp::Subscription<rmf_fleet_msgs::msg::PauseRequest>::SharedPtr _pause_sub;
Expand Down
21 changes: 21 additions & 0 deletions rmf_robot_sim_common/src/slotcar_common.cpp
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Original file line number Diff line number Diff line change
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<rmf_fleet_msgs::msg::RobotCollision>(
"/robot_collisions", 10);

auto qos_profile = rclcpp::QoS(10);
qos_profile.transient_local();
_building_map_sub =
Expand Down Expand Up @@ -842,8 +846,25 @@ 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");

rmf_fleet_msgs::msg::RobotCollision msg;
msg.robot_name = _model_name;

msg.location.t = _ros_node->get_clock()->now();
msg.location.x = _pose.translation()[0];
msg.location.y = _pose.translation()[1];
msg.location.yaw = compute_yaw(_pose);
msg.location.level_name = get_level_name(_pose.translation()[2]);
if (!_remaining_path.empty())
{
msg.location.index = _remaining_path.front().index;
}

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