Obbart/universal_robots_ros_driver
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Fixed an issue where canceling a trajectory wouldn't stop the robot.

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This commit is contained in:
Thomas Timm Andersen
2015-10-09 10:47:29 +02:00
parent e354ada3ab
commit 80e344d167
2 changed files with 101 additions and 75 deletions
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51
src/ur_ros_wrapper.cpp
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@@ -148,6 +148,7 @@ public:
"The control thread for this driver has been started");
} else {
//start actionserver
goal_handle_ = NULL;
as_.start();
//subscribe to the data topic of interest
@@ -180,8 +181,13 @@ private:
actionlib::ServerGoalHandle<
control_msgs::FollowJointTrajectoryAction> gh) {
print_info("on_goal");
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal =
*gh.getGoal(); //make a copy that we can modify
if (goal_handle_ != NULL) {
RosWrapper::cancelCB(*goal_handle_);
}
goal_handle_ = &gh;
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal(); //make a copy that we can modify
if (!validateJointNames()) {
std::string outp_joint_names = "";
for (unsigned int i = 0; i < goal.trajectory.joint_names.size();
@@ -195,7 +201,6 @@ private:
gh.setRejected(result_, result_.error_string);
print_error(result_.error_string);
}
if (!has_positions()) {
result_.error_code = result_.INVALID_GOAL;
result_.error_string = "Received a goal without positions";
@@ -226,8 +231,15 @@ private:
}
reorder_traj_joints(goal.trajectory);
std::vector<double> timestamps;
std::vector<std::vector<double> > positions, velocities;
if (goal.trajectory.points[0].time_from_start.toSec() != 0.) {
print_warning("Trajectory's first point should be the current position, with time_from_start set to 0.0 - Inserting point in malformed trajectory");
timestamps.push_back(0.0);
positions.push_back(robot_.rt_interface_->robot_state_->getQActual());
velocities.push_back(robot_.rt_interface_->robot_state_->getQdActual());
}
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
timestamps.push_back(
goal.trajectory.points[i].time_from_start.toSec());
@@ -235,10 +247,14 @@ private:
velocities.push_back(goal.trajectory.points[i].velocities);
}
gh.setAccepted();
goal_handle_->setAccepted();
robot_.doTraj(timestamps, positions, velocities);
result_.error_code = result_.SUCCESSFUL;
gh.setSucceeded(result_);
if (goal_handle_ != NULL) {
result_.error_code = result_.SUCCESSFUL;
goal_handle_->setSucceeded(result_);
goal_handle_ = NULL;
}
}
void cancelCB(
@@ -246,9 +262,13 @@ private:
control_msgs::FollowJointTrajectoryAction> gh) {
print_info("on_cancel");
// set the action state to preempted
robot_.stopTraj();
result_.error_code = result_.SUCCESSFUL;
result_.error_string = "Goal cancelled by client";
if (goal_handle_ != NULL) {
print_info("Stopping previous traj");
robot_.stopTraj();
result_.error_code = result_.SUCCESSFUL;
result_.error_string = "Goal cancelled by client";
goal_handle_ = NULL;
}
gh.setCanceled(result_);
}
@@ -285,7 +305,8 @@ private:
bool validateJointNames() {
std::vector<std::string> actual_joint_names = robot_.getJointNames();
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal =
*goal_handle_->getGoal();
if (goal.trajectory.joint_names.size() != actual_joint_names.size())
return false;
@@ -336,7 +357,8 @@ private:
}
bool has_velocities() {
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal =
*goal_handle_->getGoal();
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
if (goal.trajectory.points[i].positions.size()
!= goal.trajectory.points[i].velocities.size())
@@ -346,7 +368,8 @@ private:
}
bool has_positions() {
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal =
*goal_handle_->getGoal();
if (goal.trajectory.points.size() == 0)
return false;
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
@@ -358,7 +381,8 @@ private:
}
bool has_limited_velocities() {
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal =
*goal_handle_->getGoal();
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
for (unsigned int j = 0;
j < goal.trajectory.points[i].velocities.size(); j++) {
@@ -371,7 +395,8 @@ private:
}
bool traj_is_finite() {
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal = *goal_handle_->getGoal();
actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal =
*goal_handle_->getGoal();
for (unsigned int i = 0; i < goal.trajectory.points.size(); i++) {
for (unsigned int j = 0;
j < goal.trajectory.points[i].velocities.size(); j++) {