Make pd position controller not block velocity commands after a positional command

CodexLabsLLC / Colosseum

Open source simulator for autonomous robotics built on Unreal Engine with support for Unity

https://codexlabsllc.github.io/Colosseum/

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Make pd position controller not block velocity commands after a positional command #55

Closed nikola-j closed 1 year ago

nikola-j commented 1 year ago

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When using ros2 with simple pd position controller, if a goal is issued once, then velocity commands will stop working since pd controller will send commands even if it doesn't have a goal.

How Has This Been Tested?

Send goal (takeoff, goto)
Issue velocity command
The command works with this fix

CodexLabsLLC / Colosseum

Make pd position controller not block velocity commands after a positional command #55

About

How Has This Been Tested?

Screenshots (if appropriate):