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Emergency handler

Shingo Takeuchi requested to merge shingox1/core_planning:feature/emergency_handler into master

Implemented feature

This is the part of failsafe action and related to the MR below. common!40 (merged)

Description

The following is the list of what has been implemented in this MR.

  • Subscribe emergency command and overwrite twist gate message upon the reception of the command
  • Remove the publish of emergency stop and state cmds as they are no longer used
  • Use health checker to monitor the interval of remote command and emergency stop

Implementation description

Please check the attached for the entire failsafe action frameworkfailsafe_framework.pdf

Edited by Geoffrey Biggs

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