[Feature] Console Server/All: Stop/Resume vehicle with PONTE Console #24
Description
The PONTE Console has a "Pause" button on the top-right corner, as seen in the figure below. It is meant to pause/resume vehicles and also works by just pressing Spacebar when a vehicle is selected.
When this button is pressed, one of the the following HTTP requests is sent:
RSET magicelectric0/Thruster_Stop std_msgs/Int8 1 # pause
RSET magicelectric0/Thruster_Stop std_msgs/Int8 0 # resume
The console server needs to be adapted to handle this request and publish on the specified topic (or another one of choice, for what it's worth).
One suggestion is to change the Mission Status flag to something that represents "Pause". This flag change would then "freeze" controllers (integral terms should stop updating) and disable actuation. When the vehicle is resumed, it should go back to the previous mission, either it being a PF or something else.