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Hold joint position if tolerances were violated #395

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Hold joint position if tolerances were violated #395

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f19e7a4
Holding the current position if path tolerances were violated
Martin-Oehler Dec 11, 2018
b7b23f5
holding position when goal tolerance was violated
Martin-Oehler Dec 13, 2018
3d7f134
extended test cases for tolerance violations to check for movement af…
Martin-Oehler Jan 11, 2019
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7 changes: 7 additions & 0 deletions ...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -417,6 +417,10 @@ update(const ros::Time& time, const ros::Duration& period)
ROS_ERROR_STREAM_NAMED(name_,"Path tolerances failed for joint: " << joint_names_[i]);
checkStateTolerancePerJoint(state_joint_error_, joint_tolerances.state_tolerance, true);
}

// If we violate path tolerance then hold current position
setHoldPosition(time_data.uptime, rt_active_goal_);

rt_segment_goal->preallocated_result_->error_code =
control_msgs::FollowJointTrajectoryResult::PATH_TOLERANCE_VIOLATED;
rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
Expand Down Expand Up @@ -453,6 +457,9 @@ update(const ros::Time& time, const ros::Duration& period)
checkStateTolerancePerJoint(state_joint_error_, tolerances.goal_state_tolerance, true);
}

// If we violate goal tolerances then hold current position
setHoldPosition(time_data.uptime, rt_active_goal_);

rt_segment_goal->preallocated_result_->error_code = control_msgs::FollowJointTrajectoryResult::GOAL_TOLERANCE_VIOLATED;
rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
rt_active_goal_.reset();
Expand Down