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[JTC] Hold position if tolerance is violated even during non-active goal #368

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Merged
merged 2 commits into from
Aug 7, 2022
Merged

[JTC] Hold position if tolerance is violated even during non-active goal #368

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a8b8c85
hold position if tolerance is violated even during non-active goal
Jun 21, 2022
a8e1f91
rename abort
Aug 4, 2022
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5 changes: 5 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 @@ -347,6 +347,11 @@ controller_interface::return_type JointTrajectoryController::update(
// to be satisfied or violated within the goal_time_tolerance
}
}
else if (tolerance_violated_while_moving)
{
set_hold_position();
RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");
}
}
}

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