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Fix JTC from immediately returning success #565

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Merged
merged 2 commits into from
May 2, 2023
Merged

Fix JTC from immediately returning success #565

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30aa978
Fix JTC from immediately returning success
MarqRazz Apr 7, 2023
4cac618
Merge branch 'master' into pr-fix_immediate_jtc_return
bmagyar May 1, 2023
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6 changes: 6 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 @@ -152,6 +152,8 @@ controller_interface::return_type JointTrajectoryController::update(
sort_to_local_joint_order(*new_external_msg);
// TODO(denis): Add here integration of position and velocity
traj_external_point_ptr_->update(*new_external_msg);
// set the active trajectory pointer to the new goal
traj_point_active_ptr_ = &traj_external_point_ptr_;
}

// TODO(anyone): can I here also use const on joint_interface since the reference_wrapper is not
Expand Down Expand Up @@ -315,6 +317,8 @@ controller_interface::return_type JointTrajectoryController::update(
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
// remove the active trajectory pointer so that we stop commanding the hardware
traj_point_active_ptr_ = nullptr;

// check goal tolerance
}
Expand All @@ -328,6 +332,8 @@ controller_interface::return_type JointTrajectoryController::update(
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
// remove the active trajectory pointer so that we stop commanding the hardware
traj_point_active_ptr_ = nullptr;

RCLCPP_INFO(get_node()->get_logger(), "Goal reached, success!");
}
Expand Down