Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

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

Merged
merged 1 commit into from
Jan 31, 2024
Merged

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

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 10 additions & 6 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
View file
Open in desktop
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());
Expand Down
Loading