I’m testing the cliff detector, and seem to have a problem when attempting to reset the cliff event flag after a cliff event.
I have a slightly raised (~1.5cm) platform on which I place the robot, then drive it towards the edge. The runstop correctly activates when the sensors go over the edge.
The instructions at Robot Sensors - Stretch Documentation indicate that the only way to reset this runstop is with
import stretch_body.robot r=stretch_body.robot.Robot() r.startup() r.pimu.cliff_event_reset()
However, doing this appears to have no effect. I have tried this both with the driving being controlled by the xbox controller (/usr/bin/hello_robot_xbox_teleop.sh), and with the roslaunched driver running and using the keyboard teleop to drive the robot. I suspect that makes no difference to the resets.
When I try resetting I shut down the xbox teleop or ros driver.
I can see that the cliff event is no longer active, as checking the pimu’s
at_cliff variable shows
r.pimu.status["at_cliff"] [False, False, False, False]
I also tried using the runstop_event_reset function, but that also does nothing.
Is there something else I need to do to release the runstop after a cliff event?