pr2_ethercat should produce diagnostic errors when accelerometer is in a bad state (ros ticket #3882)

[ahendrix]

It's not very obvious for the user to know when the gripper accelerometer has gotten in a bad state (and thus tries to send data at 40 Khz).

Refer to ethercat_hardware/src/wg0x.cpp L663: {{{ int count = min(uint8_t(4), uint8_t(status->accelcount - last_status->accelcount)); }}}

pr2_ethercat should generate diagnostics errors when it detects more than 4 accel samples per realtime update. The logic could get a little tricky because of wrap-around. Nonetheless, this would be a very helpful addition.

trac data:

• Owner: wheeler
• Reporter: vpradeep
• Reported at: Tue Feb 16 10:39:53 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3882

[ahendrix]

[dking] Already in Cturtle/Unstable