Adding resume and pause operations to the algorithm #43
Description
I am working with a mobile manipulator and the requirement for the system is that when the mobile base of the robot is navigating from one point to another, the kinematic-icp works as intended and after the base has reached the desired location, the control passes over to the manipulator to do its job and during this time the kinematic icp needs to pause. Once the manipulator is done with its work, the control passes back to the base and kinematic icp resumes its operations.
There are a couple of reasons for this requirement. Firstly, we dont want the manipulator movements to add unwanted noise to the lidar readings and secondingly, when the manipulator operates, a whole lot of dust can generate in the robot's workspace which can damage the lidar lense and hence the lidar needs to be shielded using an automatic shutter during manipulator operations and that again causes a significant change to lidar readings.
So I wanted to know if such sort of provision is possible to develope in your algorithm? I guess I can create a ROS2 service which can send the pause and resume requests to kinematic ICP as per requirements (Similar feature is made available with Hector SLAM implementation). Can you point me in the right direction as to which parts of the codebase should I tinker with to develop this required feature?