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[JTC] Fill action error_strings (backport #887) #1009

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merged 1 commit into from
Jan 31, 2024
Merged

[JTC] Fill action error_strings (backport #887) #1009

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16 changes: 10 additions & 6 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 @@ -346,6 +346,7 @@ controller_interface::return_type JointTrajectoryController::update(
{
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::PATH_TOLERANCE_VIOLATED);
result->set__error_string("Aborted due to path tolerance violation");
active_goal->setAborted(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
Expand All @@ -362,9 +363,10 @@ controller_interface::return_type JointTrajectoryController::update(
{
if (!outside_goal_tolerance)
{
auto res = std::make_shared<FollowJTrajAction::Result>();
res->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);
active_goal->setSucceeded(res);
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);
result->set__error_string("Goal successfully reached!");
active_goal->setSucceeded(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
Expand All @@ -377,17 +379,19 @@ controller_interface::return_type JointTrajectoryController::update(
}
else if (!within_goal_time)
{
const std::string error_string = "Aborted due to goal_time_tolerance exceeding by " +
std::to_string(time_difference) + " seconds";

auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED);
result->set__error_string(error_string);
active_goal->setAborted(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
rt_has_pending_goal_.writeFromNonRT(false);

RCLCPP_WARN(
get_node()->get_logger(), "Aborted due goal_time_tolerance exceeding by %f seconds",
time_difference);
RCLCPP_WARN(get_node()->get_logger(), error_string.c_str());

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
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