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Resolve premature controller initialization #213

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merged 5 commits into from
Nov 5, 2018
Merged

Resolve premature controller initialization #213

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35001e6
Avoid updating ros_control controllers on pipeline timeout
miguelprada Oct 16, 2018
0110e88
Revert "Avoid updating ros_control controllers on pipeline timeout"
miguelprada Oct 23, 2018
c599a2f
Do not update controller_manager until RTPackets have been received
miguelprada Oct 23, 2018
0edc606
Mark handles as initialized after actually doing it rather than just …
miguelprada Oct 23, 2018
7af6a28
Improve readability
miguelprada Nov 5, 2018
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1 change: 1 addition & 0 deletions include/ur_modern_driver/ros/controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ class ROSController : private hardware_interface::RobotHW, public URRTPacketCons
ros::NodeHandle nh_;
ros::Time lastUpdate_;
controller_manager::ControllerManager controller_;
bool robot_state_received_;

// state interfaces
JointInterface joint_interface_;
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6 changes: 6 additions & 0 deletions src/ros/controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
ROSController::ROSController(URCommander& commander, TrajectoryFollower& follower,
std::vector<std::string>& joint_names, double max_vel_change, std::string tcp_link)
: controller_(this, nh_)
, robot_state_received_(false)
, joint_interface_(joint_names)
, wrench_interface_(tcp_link)
, position_interface_(follower, joint_interface_, joint_names)
Expand Down Expand Up @@ -81,10 +82,15 @@ void ROSController::read(RTShared& packet)
{
joint_interface_.update(packet);
wrench_interface_.update(packet);
robot_state_received_ = true;
}

bool ROSController::update()
{
// don't run controllers if we haven't received robot state yet
if (!robot_state_received_)
return true;

auto time = ros::Time::now();
auto diff = time - lastUpdate_;
lastUpdate_ = time;
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