[Design] wrapper bypasses estop system completely.

[mklingen-bd]

spot-ros-wrapper/spot_ros_interface/scripts/spot_ros_interface.py

Line 493 in 7a22c67

with bosdyn.client.lease.LeaseKeepAlive(self.lease_client), bosdyn.client.estop.EstopKeepAlive(

The estop system was designed so that multiple devices (tablet, laptop, web interface, etc.) could become an authoratative emergency stop source, and stop the robot when triggered or when comms to the robot was lost. The ROS wrapper automatically acquires the estop and keeps it alive, negating this purpose.

This is another design question, because estops are not a ROS concept. The estop service could be made into it's own ROS service, or a 3rdparty estop system could be used in conjunction with ROS.