Add VDA5050 Safety State Broadcaster #1958
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requested review from
christophfroehlich,
erickisos,
homalozoa,
olivier-stasse,
rosterloh,
saikishor and
xguay
christophfroehlich
requested changes
Oct 8, 2025
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this would be the first yaml file having a copyright/license section. @ros-controls/ros_control should we make this default, or remove it from here?
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| if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") | ||
| add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) | ||
| endif() |
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please use ros2_control_cmake here to use the same options across all plugins.
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Done; removed these compile options and added:
find_package(ros2_control_cmake REQUIRED)
set_compiler_options()
export_windows_symbols()
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this would be the first yml file having a copyright/license section. @ros-controls/ros_control should we make this default, or remove it from here?
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I would say no for a copyright in an yaml
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Done; removed license from yaml files.
added 2 commits
October 9, 2025 15:25
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This Pull Request introduces the VDA5050 Safety State Broadcaster, a controller for publishing safety state information in ROS 2. The broadcaster reads safety-related state interfaces from hardware and exposes them in standardized ROS messages, as defined by the VDA5050 standard, for easy integration with VDA5050-based fleet management systems, safety monitoring, and higher-level decision-making nodes.
Dependency: This PR depends on control_msgs#266 which introduces the
VDA5050SafetyStatemessage.Features
Standardized Safety Output: Publishes a
control_msgs::msg::VDA5050SafetyStatemessage representing the current safety state of the system: field violation and E-stop status.Flexible Interface Support: Reads from configurable state interfaces covering field violation, manual E-stop, remote E-stop, and auto-acknowledged E-stop, ensuring full compatibility with the VDA5050 schema.
Parameterization: Fully configurable through YAML using generate_parameter_library.
Published Topic
~/vda5050_safety_state(control_msgs::msg::VDA5050SafetyState) — publishes the combined safety state: field violation and prioritized E-stop status.Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
To send us a pull request, please:
colcon testandpre-commit run(requires you to install pre-commit bypip3 install pre-commit)