Keep joint jog jogging instead of hanging #62
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
@dsobek why wasn't this reviewed or approved by anyone before merging? i don't think this is a good workflow |
|
I think @MikeWrock forgot to set up branch protections on this repo - fixing |
|
Fixed branch protections. See #31 for confirmation that merging is blocked without review. fwiw this change seems sensical to me, but thanks @davetcoleman for catching that it went through without review. |
|
My bad, I should've called out the lack of permissions. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR stops joint jog from hanging when the race condition described in https://github.com/PickNikRobotics/moveit_studio/issues/9828 occurs simply by setting a timeout in a RetrieveJointStateParameter behavior.
The race condition can still occur but the timeout prevents it from happening repeatedly.
Testing
Add a delay to the changed RetrieveJointStateParameter behavior like shown to repro the race condition reliably.
Then after switching from 'Waypoints' to 'Joint Jog' teleop modes, and manipulating a joint, you'll see an error from RetrieveJointStateParameter for timing out. Continuing to manipulate joints should then work.