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aerostack2 / aerostack2

Aerostack2 is a ROS 2 framework developed to create autonomous multi-aerial-robots systems in an easy and powerful way.
https://aerostack2.github.io/
BSD 3-Clause "New" or "Revised" License
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[as2_aerial_platform] Management of time between set control mode and references updated #132

Closed RPS98 closed 4 weeks ago

RPS98 commented 1 year ago

ROS2 Version

humble

Version

main

What happened?

Current operation: 1º. Platform running with control mode A and references A'. 2º. Set Control Mode request arrives, and platform change control mode to B. 3º. Platform compute output with new control mode B, but with references A'. 4º. New reference B' arrives relative to new control mode B. 5º. Platform running with control mode B and references B'.

The 3º step needs to be avoid. Now, platforms get method ownSendCommand() called but there is no way to know if the new reference has been arrived or not.

RPS98 commented 1 year ago

Maybe, platforms should have a updateReference(...) method to manage this situation. @miferco97 @pariaspe what do you think?

RPS98 commented 8 months ago

Aerial platform have the variable has_new_references_ which indicates if this happens. It should be use on as2_aerial_platform or each platform should manage it?

miferco97 commented 8 months ago

what happens when no new_reference is received ?

RPS98 commented 8 months ago

The aerial platform calls the own_send_command method of the platform, but this->command_pose_msg_, this->command_twist_msg_, etc., are storing old control mode reference data.

We could wait until a new reference arrives and set has_new_references_ to true. But during this elapse of time, own_send_command is not be calling.

miferco97 commented 8 months ago

maybe this behavior can be especified in the platform ?

RPS98 commented 4 weeks ago

Done in #584