<<PackageHeader(industrial_robot_status_controller)>>
<<TOC(4)>>

== Overview ==

This package provide a `ros_control` compatible controller that publishes robot/controller state (e-stopped, in motion, etc) as <<MsgLink(industrial_msgs/RobotStatus)>> messages.


== Documentation ==

See the documentation in the repository: [[https://github.com/gavanderhoorn/industrial_robot_status_controller|gavanderhoorn/industrial_robot_status_controller]].


== Controllers ==

Controllers provided by this package:

{{{
#!clearsilver CS/NodeAPI

node.0 {
  name=IndustrialRobotStatusController
  desc=Publishes `industrial_msgs/RobotStatus` based on information coming from the underlying `hardware_interface`.

  pub {
    0.name = robot_status
    0.type = industrial_msgs/RobotStatus
    0.desc = Status of the robot or controller (e-stopped, in motion, motion possible, etc)
  }

  param {
    0.name = publish_rate
    0.type = float
    0.desc = rate at which `RobotStatus` messages should be published (Hz)
    0.default = 10.0
    1.name = handle_name
    1.type = str
    1.desc = name of the `IndustrialRobotStatusHandle` resource exposed by the `hardware_interface`
    1.default = "industrial_robot_status_handle"
  }
}
}}}


== Report a Bug ==

<<GitHubIssues(gavanderhoorn/industrial_robot_status_controller)>>


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