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Home / Iop_v3ServiceSet / SetGuardedTeleopPolicy

Message SetGuardedTeleopPolicy

Message ID: C501h

Description:
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.

SetGuardedTeleopPolicy
PolicyRec
GuardedTeleopRec

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


PolicyRec
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.


GuardedTeleopRec
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
0: DO_NOTHING
1: STOP_ON_PATH
2: DEVIATE_FROM_PATH_TO_AVOID_OBSTACLE
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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Generated on 07/17/2019 from iop_v3.ojss