PR2 / pr2_ethercat_drivers

Drivers for the ethercat system and the peripherals on the PR2.
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pr2 ethercat should report last time halt occurred in diagnostics (ros ticket #4332) #26

Open ahendrix opened 11 years ago

ahendrix commented 11 years ago

I will add a diagnostic key-value pair in the Ethercat Master diagnostics that contains that time that a motor halt last occurred.

trac data:

ahendrix commented 11 years ago

[blaise] Actually, this might be a rob ticket...

ahendrix commented 11 years ago

[blaise] Just curious why the won't fix? It is still something that strikes me as useful, and that we'll wish we had next time we run into one of these scheduling/motors halting problems.

ahendrix commented 11 years ago

[dking] Patch for pr2_ethercat_drivers 1.5

{{{

--- include/ethercat_hardware/ethercat_hardware.h (revision 48057) +++ include/ethercat_hardware/ethercat_hardware.h (working copy) @@ -84,6 +84,7 @@ struct netifcounters counters; bool input_thread_isstopped; bool motorshalted; //!< True if motors are halted

dking@bli:/wg/stor1a/dking/dros/pr2_ethercat_drivers/ethercat_hardware$ svn di

Index: include/ethercat_hardware/ethercat_hardware.h

--- include/ethercat_hardware/ethercat_hardware.h (revision 48057) +++ include/ethercat_hardware/ethercat_hardware.h (working copy) @@ -84,6 +84,7 @@ struct netifcounters counters; bool input_thread_isstopped; bool motorshalted; //!< True if motors are halted