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Delayed Read Write Calls till after on_activate() is completed #89

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Delayed Read Write Calls till after on_activate() is completed #89

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abab217
added delayed read write
soham2560 May 12, 2024
b87f70a
set activated to true before reset command
soham2560 Mar 25, 2025
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1 change: 1 addition & 0 deletions dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ class DynamixelHardware : public hardware_interface::SystemInterface
ControlMode control_mode_{ControlMode::Position};
bool mode_changed_{false};
bool use_dummy_{false};
bool activated_{false};
};
} // namespace dynamixel_hardware

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16 changes: 15 additions & 1 deletion dynamixel_hardware/src/dynamixel_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -225,6 +225,9 @@ CallbackReturn DynamixelHardware::on_activate(const rclcpp_lifecycle::State & /*
joints_[i].state.effort = 0.0;
}
}

activated_ = true;

read(rclcpp::Time{}, rclcpp::Duration(0, 0));
reset_command();
write(rclcpp::Time{}, rclcpp::Duration(0, 0));
Expand All @@ -235,6 +238,8 @@ CallbackReturn DynamixelHardware::on_activate(const rclcpp_lifecycle::State & /*
CallbackReturn DynamixelHardware::on_deactivate(
const rclcpp_lifecycle::State & /* previous_state */)
{
activated_ = false;

RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "stop");
return CallbackReturn::SUCCESS;
}
Expand All @@ -243,6 +248,11 @@ return_type DynamixelHardware::read(
const rclcpp::Time & /* time */,
const rclcpp::Duration & /* period */)
{
if(!activated_)
{
return return_type::OK;
}

if (use_dummy_) {
return return_type::OK;
}
Expand Down Expand Up @@ -290,14 +300,18 @@ return_type DynamixelHardware::read(
joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]);
joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]);
}

return return_type::OK;
}

return_type DynamixelHardware::write(
const rclcpp::Time & /* time */,
const rclcpp::Duration & /* period */)
{
if(!activated_)
{
return return_type::OK;
}

if (use_dummy_) {
for (auto & joint : joints_) {
joint.prev_command.position = joint.command.position;
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