diff --git a/doc/migration/Jazzy.rst b/doc/migration/Jazzy.rst index 72e6a52e6d..2114436098 100644 --- a/doc/migration/Jazzy.rst +++ b/doc/migration/Jazzy.rst @@ -18,3 +18,4 @@ joint_trajectory_controller * Empty trajectory messages are discarded (`#902 `_). * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 `_). * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 `_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint. +* Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 `_). Adaptions to the action goal might be necessary. diff --git a/doc/release_notes/Jazzy.rst b/doc/release_notes/Jazzy.rst index 4c5db18f3e..4793fd957d 100644 --- a/doc/release_notes/Jazzy.rst +++ b/doc/release_notes/Jazzy.rst @@ -33,6 +33,20 @@ joint_trajectory_controller * Action field ``error_string`` is now filled with meaningful strings (`#887 `_). * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 `_). * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 `_). ``angle_wraparound`` parameter was completely removed. +* Tolerances sent with the action goal are now processed and used for the action. (`#716 `_). For details, see the `JointTolerance message `_: + + .. code-block:: markdown + + The tolerances specify the amount the position, velocity, and + accelerations can vary from the setpoints. For example, in the case + of trajectory control, when the actual position varies beyond + (desired position + position tolerance), the trajectory goal may + abort. + + There are two special values for tolerances: + * 0 - The tolerance is unspecified and will remain at whatever the default is + * -1 - The tolerance is "erased". If there was a default, the joint will be + allowed to move without restriction. pid_controller ************************ diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst index af495ad14d..4dcb71a064 100644 --- a/joint_trajectory_controller/doc/userdoc.rst +++ b/joint_trajectory_controller/doc/userdoc.rst @@ -152,7 +152,21 @@ Actions [#f1]_ The primary way to send trajectories is through the action interface, and should be favored when execution monitoring is desired. -Action goals allow to specify not only the trajectory to execute, but also (optionally) path and goal tolerances. +Action goals allow to specify not only the trajectory to execute, but also (optionally) path and goal tolerances. For details, see the `JointTolerance message `_: + +.. code-block:: markdown + + The tolerances specify the amount the position, velocity, and + accelerations can vary from the setpoints. For example, in the case + of trajectory control, when the actual position varies beyond + (desired position + position tolerance), the trajectory goal may + abort. + + There are two special values for tolerances: + * 0 - The tolerance is unspecified and will remain at whatever the default is + * -1 - The tolerance is "erased". If there was a default, the joint will be + allowed to move without restriction. + When no tolerances are specified, the defaults given in the parameter interface are used (see :ref:`parameters`). If tolerances are violated during trajectory execution, the action goal is aborted, the client is notified, and the current position is held.