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[JTC] Deprecate start_with_holding #1076

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merged 1 commit into from
Mar 21, 2024
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[JTC] Deprecate start_with_holding #1076

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8 changes: 8 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 @@ -930,6 +930,14 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
{
add_new_trajectory_msg(set_hold_position());
}
else
{
RCLCPP_WARN(
get_node()->get_logger(),
"Parameter \"start_with_holding\" is deprecated. "
"It will be removed in a future release and start with holding position will be the default "
"behavior.");
}
rt_is_holding_.writeFromNonRT(true);

// parse timeout parameter
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2 changes: 1 addition & 1 deletion joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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Expand Up @@ -85,7 +85,7 @@ joint_trajectory_controller:
start_with_holding: {
type: bool,
default_value: true,
description: "If true, start with holding position after activation. Otherwise, no command will be sent until the first trajectory is received.",
description: "(Deprecated) If true, start with holding position after activation. Otherwise, no command will be sent until the first trajectory is received.",
}
allow_nonzero_velocity_at_trajectory_end: {
type: bool,
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