Joint calibration controller should support rising, falling edges (ros ticket #3948)

[ahendrix]

One of the reasons to have rising and falling edges is so we can specify both for each joint. This way, we can verify, for example, that the caster transmission is not giving us incorrect readings from a broken belt.

{{{ if (joint->joint->calibration->falling && joint->joint->calibration->rising){ ROS_ERROR("Both rising and falling edge are specified for joint %s. This is not supported.", joint_name.c_str()); return false; } }}}

The logic should change to check joint position before moving to rising or falling edge. Maybe for the caster we can specify going to the rising edge all the time, since the rising edge is more defined than the falling one.

We may need to rethink how this happens, but the point of having rising/falling is that both are specified for continuous joints.

trac data:

• Owner: wim
• Reporter: watts
• Reported at: Thu Mar 4 10:56:58 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3948

[ahendrix]

[wim] Fixed in pr2_controllers 1.0 and 1.1. The calibration controllers now allow you to specify both the rising and falling edge for continuous joints. This fix does not mean we can start modifying the urdf files, because this will break anyone running on an older boxturtle/latest version (including texi). We might have to wait a very long time for this bug to disappear from all installations.

svn ci -m "allow continuous joints to specify both rising and falling edges" Sending src/caster_calibration_controller.cpp Sending src/joint_calibration_controller.cpp Sending src/wrist_calibration_controller.cpp Transmitting file data ... Committed revision r35887.

wim@prj1:~/boxturtle_wg_all/stacks/pr2_controllers/pr2_calibration_controllers$ svn ci -m "allow continuous joints to specify both rising and falling edges"Sending src/caster_calibration_controller.cpp Sending src/joint_calibration_controller.cpp Sending src/wrist_calibration_controller.cpp Transmitting file data ... Committed revision r35888.