Clear the e-stop automatically after running the create3 button tests; pressing the power button may enable it

Author: civerachb-cpr

turtlebot4_tests/turtlebot4_tests/ros_tests.py

@@ -42,6 +42,8 @@
 from rclpy.node import Node
 from rclpy.qos import qos_profile_sensor_data
 
+from irobot_create_msgs.srv import EStop
+
 from std_msgs.msg import String
 
 from turtlebot4_msgs.msg import UserButton, UserLed
@@ -196,6 +198,12 @@ def createButtonTest(self):
             pass
         results.append(boolTestResults(True, 'Create Button 2'))
 
+        # Pressing the middle button can engage the e-stop, so clear it
+        e_stop_service_client = self.create_client(EStop, 'e_stop')
+        req = EStop.Request()
+        req.e_stop_on = False
+        e_stop_service_client.call(req)
+
         self.destroy_subscription(create_button_sub)
         printTestResults('Create3 Button Test', results)
         logTestResults(self.log_file_name, 'Create3 Button Test', results)