[JTC] Renaming variables, reordering trajectory checks and fixing open-loop mode by adding last commanded time. #1032
+80
−63
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
requested review from
bijoua29,
bmagyar,
christophfroehlich,
saikishor,
VanshGehlot and
VX792
|
This pull request is in conflict. Could you fix it @destogl? |
|
Recently merged the wraparound feature which caused some conflicts. Also, this may be interesting for @fmauch |
bmagyar
changed the title
christophfroehlich
approved these changes
Feb 12, 2024
|
👀 @destogl |
saikishor
approved these changes
Feb 12, 2024
Comment on lines
+156
to
+161
| if (fabs(last_commanded_time_.seconds()) < std::numeric_limits<float>::epsilon()) | ||
| { | ||
| last_commanded_time_ = time; | ||
| } | ||
| current_trajectory_->set_point_before_trajectory_msg( | ||
| last_commanded_time_, last_commanded_state_, joints_angle_wraparound_); |
There was a problem hiding this comment.
In this case, the last_command_time_ would be same for the first 2 iterations. Is that okay?. If its fine, then all good.
bmagyar
approved these changes
Feb 19, 2024
|
Please adjust / extend the tests |
henrygerardmoore
pushed a commit
to henrygerardmoore/ros2_controllers
that referenced
this pull request
Jul 19, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR increseas readability of the JTC by renaming trajectory varialbes to be semantically correct and self explainable.
Also it reoders checks of the trajectories done in the callback. They are grouped based on the things they are checking, i.e., 1. data available, 2. time checks; 3. trajectory point checks.
Additionally, it adds "last_commanded_time_" for the open loop mode to be more correct when setting point before trajectory.