[JTC] Add Parameter to Toggle State Setting on Activation #1231
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bijoua29,
bmagyar,
DasRoteSkelett,
destogl,
olivier-stasse,
peterdavidfagan and
VanshGehlot
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Hi, I wanted to kindly ask if there’s a chance for this pull request to be reviewed. Any feedback would be greatly appreciated. Thank you! |
christophfroehlich
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Aug 29, 2024
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Makes sense. Please just add a tiny note in the https://github.com/ros-controls/ros2_controllers/blob/master/doc/release_notes.rst
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Wait, I am not sure about this. Can you detail the scenario more. Are you using open loop? |
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@destogl We are not using open-loop control. We are creating a closed-loop controller called
Scenario:
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…ctivation to release_notes. Updated the parameters.yaml description to match the same wording.
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@christophfroehlich |
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@christophfroehlich , are we good? |
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@bmagyar @christophfroehlich |
christophfroehlich
merged commit f96d2fc
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@Mergifyio backport iron humble |
✅ Backports have been created
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* [JTC] Add param to setting last command interface value as state on activation * [JTC] add a note about set_last_command_interface_value_as_state_on_activation to release_notes. Updated the parameters.yaml description to match the same wording. --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> (cherry picked from commit f96d2fc)
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* [JTC] Add param to setting last command interface value as state on activation * [JTC] add a note about set_last_command_interface_value_as_state_on_activation to release_notes. Updated the parameters.yaml description to match the same wording. --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> (cherry picked from commit f96d2fc) # Conflicts: # joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
christophfroehlich
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) * [JTC] Add param to setting last command interface value as state on activation * [JTC] add a note about set_last_command_interface_value_as_state_on_activation to release_notes. Updated the parameters.yaml description to match the same wording. --------- Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> (cherry picked from commit f96d2fc) Co-authored-by: Kenta Kato <kenta.kato.4321@gmail.com>
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This pull request introduces a new parameter in the JointTrajectoryController that enables toggling whether the last command interface value should be set as both the current_state and last_commanded_state upon activation.
Motivation
Consider a scenario where there is a transition from a JTC to another controller and back to a JTC. Due to the implementation specifics of the intermediary controller, it is possible that the command interface values from the first JTC remain. This can lead to dangerous situations where, upon reactivation, the second JTC inadvertently uses these stale command values to command the hardware.
To mitigate this risk, I have added an option within the JTC that ensures command values are reliably reset to reflect the current state upon activation, enhancing system safety.