modify joint trajectory controller api (ros ticket #3536)

PR2 / pr2_controllers

The controllers that run in realtime on the PR2 and supporting packages.

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modify joint trajectory controller api (ros ticket #3536) #260

Closed ahendrix closed 11 years ago

ahendrix commented 11 years ago

The joint trajectory controller api uses a "constraint" field to specify tolerances. Rename this to something like "absolute_tolerance". The joint trajectory controller does not deal with constraints in any meaningful manner (and should not, that's something for a more complicated controller) so it should not refer to them.

trac data:

Owner: sglaser
Reporter: sachinc
Reported at: Wed Jan 13 11:11:17 2010
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3536

ahendrix commented 11 years ago

[sglaser] This part of the code is now API stable. The rename makes sense, but I can't put it in anymore.

ahendrix commented 11 years ago

[sachinc] Note: I have already had queries from an external user asking what "goal" and "constraint" mean for the joint trajectory controller when it does not deal with constraints.

ahendrix commented 11 years ago

[sachinc] I am going to leave this open since this will have to be done at some point even if its not for 0.9.

ahendrix commented 11 years ago

[sglaser] Fixed by FollowJointTrajectoryAction