Obbart/universal_robots_ros_driver
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Resolve premature controller initialization (#213)

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Squashed commits:

* Avoid updating ros_control controllers on pipeline timeout
* Revert "Avoid updating ros_control controllers on pipeline timeout"
* Do not update controller_manager until RTPackets have been received
* Mark handles as initialized after actually doing it rather than just before
* Improve readability
This commit is contained in:
Miguel Prada
2018-11-05 14:05:30 +01:00
committed by G.A. vd. Hoorn
parent 6161a7d88b
commit 2f1251c2eb
2 changed files with 7 additions and 0 deletions
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1
include/ur_modern_driver/ros/controller.h
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@@ -19,6 +19,7 @@ private:
ros::NodeHandle nh_;
ros::Time lastUpdate_;
controller_manager::ControllerManager controller_;
bool robot_state_received_;
// state interfaces
JointInterface joint_interface_;

6
src/ros/controller.cpp
View File

@@ -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)
@@ -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;