This arduino code allows functionality of E-stop buttons. In a button press for E-Stop pins 2-5, it will publish a new node that causes a vehicle's velocity to return to 0. Separately, it subscribes to the vehicle_engage node to callback if it is in an autonomous state to blink pin 9.
Following are the requirements for the package.
- Arduino
- ROS Serial
- ROS Melodic
- Arduino_estop_IGVC