Joint calibration controller uses non realtime safe in update loop (ros ticket #3949)

[ahendrix]

You may be able to correct me about this update loop stuff, but I thought "push back" wasn't safe in the update loop.

From pr2_calibration_controllers/src/joint_calibration_controller.cpp

{{{ case MOVING_TOHIGH: { vc.setCommand(searchvelocity);

if (actuator_->state_.calibration_reading_ & 1)
{
  pr2_hardware_interface::Actuator a;
  pr2_mechanism_model::JointState j;
  std::vector<pr2_hardware_interface::Actuator*> fake_a;
  std::vector<pr2_mechanism_model::JointState*> fake_j;
  fake_a.push_back(&a);
  fake_j.push_back(&j);

  fake_a[0]->state_.position_ = actuator_->state_.last_calibration_rising_edge_;
  transmission_->propagatePosition(fake_a, fake_j);

  // Where was the joint when the optical switch triggered?
  fake_a[0]->state_.position_ = actuator_->state_.last_calibration_rising_edge_;
  transmission_->propagatePosition(fake_a, fake_j);

  // What is the actuator position at the joint's zero?
  assert(joint_->joint_->calibration);
  fake_j[0]->position_ = fake_j[0]->position_ - reference_position_;
  transmission_->propagatePositionBackwards(fake_j, fake_a);

  actuator_->state_.zero_offset_ = fake_a[0]->state_.position_;
  joint_->calibrated_ = true;

  state_ = CALIBRATED;
  vc_.setCommand(0.0);
}

}}}

trac data:

• Owner: sglaser
• Reporter: watts
• Reported at: Thu Mar 4 11:00:06 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3949

[ahendrix]

[sglaser] r34337