Wrist calibration controller should warn if wrist didn't move and cal flag changed (ros ticket #4173)

[ahendrix]

We saw this error on [[https://prdev.willowgarage.com/trac/pr2support/ticket/151#comment:3|SUPPORT151]]

{{{ k = nan is outside of [0,1]. This probably indicates a hardware failure on the left actuator or the flex joint. }}}

From the code in pr2_calibration_controllers/src/wrist_calibration_controller.cpp, it looks like k can be NaN when the wrist doesn't move (dl == 0) and the flag changes.

My guess is that this can happen for a joint right on the flex cal flag, where a twitch will move it. It could also be an encoder problem.

trac data:

• Owner: sglaser
• Reporter: watts
• Reported at: Tue Apr 13 20:46:02 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4173

[ahendrix]

[sglaser] Closed as fixes to #4172