Have set_hold_position() actually stop the robot #684
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bmagyar
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Jun 23, 2023
joint_trajectory_controller/src/joint_trajectory_controller.cpp
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❗ Your organization is not using the GitHub App Integration. As a result you may experience degraded service beginning May 15th. Please install the Github App Integration for your organization. Read more. @@ Coverage Diff @@
## master #684 +/- ##
==========================================
+ Coverage 35.78% 36.68% +0.90%
==========================================
Files 189 7 -182
Lines 17570 676 -16894
Branches 11592 357 -11235
==========================================
- Hits 6287 248 -6039
+ Misses 994 134 -860
+ Partials 10289 294 -9995
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Print comment as debug statement Co-authored-by: Bence Magyar <[email protected]>
bmagyar
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Jun 25, 2023
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Partial to #558 as it has tests... |
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I had a detailed look: I think this one here does not solve the problem for all interface combinations: it sets command-interfaces of velocity/effort to zero at the end of the update method -> a position hold is not guaranteed, because the PIDs' outputs will be overriden. |
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Closing in favor of #613 |
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Addresses #683
In almost all cases, that a trajectory doesn't return a valid point implies that
set_hold_position()(which defines an empty trajectory with no valid points) has been called somewhere. We should stop the robot in this case.Note the existing TODO that it is unclear how to stop an effort-controlled robot.
Note also that we should not reach this code under any other circumstance, since all incoming trajectories are validated before copied to the realtime pointer. Therefore, reaching this code without
set_hold_position()implies a bug in our validation code, and I would argue stopping the robot is reasonable behavior.To send us a pull request, please:
colcon testandpre-commit run(requires you to install pre-commit bypip3 install pre-commit)