In the ros1 version of the driver, a flag could be set to start the driver with all autonomy disabled. In this mode, the driver is only used to monitor data from spot, and can be used passively on payloads. The intent was that the robot would be operated by the user with the tablet, explicitly disabling the driver from doing anything that would move the robot.
There was also an "allow motion" flag that would allow or disallow motion when the driver was started in the autonomous mode. This allows the user to operate autonomously but also disallow motion at any point. This motion lockout is helpful when you're running autonomy code which will continually attempt to move but something has gone wrong. It is also possible to use the gentle estop for this, but that causes the robot to sit down and power off. The allow motion flag is a softer way of stopping things.
In my view both of these were useful safety features. Would there be an interest in including something like them in the ros2 version?
In the ros1 version of the driver, a flag could be set to start the driver with all autonomy disabled. In this mode, the driver is only used to monitor data from spot, and can be used passively on payloads. The intent was that the robot would be operated by the user with the tablet, explicitly disabling the driver from doing anything that would move the robot.
There was also an "allow motion" flag that would allow or disallow motion when the driver was started in the autonomous mode. This allows the user to operate autonomously but also disallow motion at any point. This motion lockout is helpful when you're running autonomy code which will continually attempt to move but something has gone wrong. It is also possible to use the gentle estop for this, but that causes the robot to sit down and power off. The allow motion flag is a softer way of stopping things.
In my view both of these were useful safety features. Would there be an interest in including something like them in the ros2 version?