Merge branch 'humble' into mergify/bp/humble/pr-1311

ros-controls · Oct 30, 2024 · fafe936 · fafe936
2 parents 4d394c5 + b625c50
commit fafe936
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Showing 3 changed files with 10 additions and 1 deletion.
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -44,6 +44,8 @@ joint_trajectory_controller
      * -1 - The tolerance is "erased".  If there was a default, the joint will be
             allowed to move without restriction.
 
+* Add the boolean parameter ``set_last_command_interface_value_as_state_on_activation``. When set to ``true``, the last command interface value is used as both the current state and the last commanded state upon activation. When set to ``false``, the current state is used for both (`#1231 <https://github.com/ros-controls/ros2_controllers/pull/1231>`_).
+
 pid_controller
 ************************
 * 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/434>`_).

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -997,7 +997,9 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   // running already)
   trajectory_msgs::msg::JointTrajectoryPoint state;
   resize_joint_trajectory_point(state, dof_);
-  if (read_state_from_command_interfaces(state))
+  if (
+    params_.set_last_command_interface_value_as_state_on_activation &&
+    read_state_from_command_interfaces(state))
   {
     state_current_ = state;
     last_commanded_state_ = state;

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -72,6 +72,11 @@ joint_trajectory_controller:
       gt_eq: [0.1]
     }
   }
+  set_last_command_interface_value_as_state_on_activation: {
+    type: bool,
+    default_value: true,
+    description: "When set to true, the last command interface value is used as both the current state and the last commanded state upon activation. When set to false, the current state is used for both.",
+  }
   action_monitor_rate: {
     type: double,
     default_value: 20.0,