integrate rvr emergency stop
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The rvr is now stopping when an object is too close to the camera (~19cm). Then all motion is blocked until the user presses play in the ui (reset odom is called). However, sometimes the blockly program is not stopped when emergency stop is triggered, so you should listen to the topic /minibot/rvr/is_emergency_stop (std_msgs/Empty) and if messages arrive terminate the blockly program.
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When an emergency stop gets triggered the rvr starts blinking red. It would be nice if there is some alert in the ui as well. For example the notice shown below appears for eg. two seconds every time smth. gets published to /minibot/rvr/is_emergency_stop.
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Another issue is that the rvr motion sometimes is not stopping when the blockly program is terminated. You can use the emergency stop routine to stop all rvr motions simply by publishing a message to /minibot/rvr/is_emergency_stop and so should do this when the blockly program is terminated manually by the user.