emergency-stop
CommunityInstant multi-layer safety halt for ROS 2 robots.
Software Engineering#diagnostics#ros2#emergency-stop#estop#robot-safety#hardware-software#collision-monitor
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
E-Stop design provides a fail-safe mechanism to immediately halt robot motion across hardware and software layers, ensuring operator safety and equipment protection.
Core Features & Use Cases
- Hardware E-Stop: NC pushbutton that cuts motor power and triggers a safe shutdown sequence.
- MCU-based detection: firmware ISR that zeros PWM outputs and prevents re-enabling motors.
- ROS 2 integration: publishes /emergency_stop and a high-priority velocity ban on the command mux.
- Nav2 safety integration: collision monitor and recovery pathways that prevent unsafe motion.
- Logging and diagnostics: comprehensive event logging and diagnostics reporting.
Quick Start
Wire a normally closed physical e-stop button, connect it to the MCU and ROS 2, and configure the estop topic to immediately stop the robot when activated.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: emergency-stop Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#emergency-stop Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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