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Have set_hold_position() actually stop the robot #684

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Have set_hold_position() actually stop the robot #684

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39052a6
Make set_hold_position or any empty trajectory actually stop the robot
egordon Jun 23, 2023
8a56c6e
move comment to relevant code
bmagyar Jun 23, 2023
0bf926f
fix whitespace
bmagyar Jun 23, 2023
ae81d4f
Update joint_trajectory_controller/src/joint_trajectory_controller.cpp
egordon Jun 23, 2023
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23 changes: 23 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -360,6 +360,29 @@ controller_interface::return_type JointTrajectoryController::update(
RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");
}
}
else
{
RCLCPP_DEBUG(get_node()->get_logger(), "Likely an Empty trajectory from set_hold_position(). Holding position...");
for (size_t index = 0; index < dof_; ++index)
{
if (has_position_command_interface_)
{
joint_command_interface_[0][index].get().set_value(
joint_command_interface_[0][index].get().get_value());
}

if (has_velocity_command_interface_)
{
joint_command_interface_[1][index].get().set_value(0.0);
}

// TODO(anyone): How to halt when using effort commands?
if (has_effort_command_interface_)
{
joint_command_interface_[3][index].get().set_value(0.0);
}
}
}
}

publish_state(time, state_desired_, state_current_, state_error_);
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