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Fix admittance controller interface read/write logic (backport #1232) #1234

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merged 2 commits into from
Aug 1, 2024
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Fix admittance controller interface read/write logic (backport #1232) #1234

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3491790
Fix admittance controller interface read/write logic (#1232)
Nibanovic Jul 31, 2024
ec78930
fix format
bmagyar Jul 31, 2024
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12 changes: 6 additions & 6 deletions admittance_controller/src/admittance_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -491,13 +491,13 @@ void AdmittanceController::read_state_from_hardware(
state_interfaces_[pos_ind * num_joints_ + joint_ind].get_value();
nan_position |= std::isnan(state_current.positions[joint_ind]);
}
else if (has_velocity_state_interface_)
if (has_velocity_state_interface_)
{
state_current.velocities[joint_ind] =
state_interfaces_[vel_ind * num_joints_ + joint_ind].get_value();
nan_velocity |= std::isnan(state_current.velocities[joint_ind]);
}
else if (has_acceleration_state_interface_)
if (has_acceleration_state_interface_)
{
state_current.accelerations[joint_ind] =
state_interfaces_[acc_ind * num_joints_ + joint_ind].get_value();
Expand Down Expand Up @@ -543,15 +543,15 @@ void AdmittanceController::write_state_to_hardware(
command_interfaces_[pos_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
}
else if (has_velocity_command_interface_)
if (has_velocity_command_interface_)
{
command_interfaces_[vel_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
state_commanded.velocities[joint_ind]);
}
else if (has_acceleration_command_interface_)
if (has_acceleration_command_interface_)
{
command_interfaces_[acc_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
state_commanded.accelerations[joint_ind]);
}
}
last_commanded_ = state_commanded;
Expand Down
1 change: 0 additions & 1 deletion joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,6 @@ class TestableJointTrajectoryController
trajectory_msgs::msg::JointTrajectoryPoint get_state_feedback() { return state_current_; }
trajectory_msgs::msg::JointTrajectoryPoint get_state_reference() { return state_desired_; }
trajectory_msgs::msg::JointTrajectoryPoint get_state_error() { return state_error_; }

};

class TrajectoryControllerTest : public ::testing::Test
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