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Home / Iop_v2ServiceSet / SetGuardedTeleopPolicy

Message SetGuardedTeleopPolicy

Message ID: C501h

This message is used to set the active behavior for guarded teleoperation; while the operator has primary control of the platform, guarded teleoperation prevents (or attempts to prevent) user actions which may result in damage to the plaform.


Message Format
Field # Field Type Units Optional Interpretation
1 PolicyRec Record false
2 GuardedTeleopRec Record false

Field # Field Type Units Optional Interpretation
1 Local_ID Unsigned Byte units one false A request identifier that will be returned in the response message. This field allows the client to coordinate requests and responses.

Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: PathTolerance
2 State BitField
Integer Size: Unsigned Byte
one false [0, 1] : ObstacleAvoidanceBehavior
2: StopOnPitchoverLimit
3: StopOnRolloverLimit
3 PathTolerance Scaled Integer
Integer Size: Unsigned Integer
units meter true Maximum allowed deviation for obstacle avoidance. A value of 0 is used for infinite tolerance.

Real Lower Limit: 0.0
Real Upper Limit: 100000.0

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The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 09/25/2017 from iop_v2.ojss