search

ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
547 stars 524 forks source link

Disable cmd_vel_timeout #607

Closed matthew-william-lock closed 1 year ago

matthew-william-lock commented 1 year ago

Hey !

Is there any way to disable the cmd_vel_timeout for the diff drive controller? It is not very apparent how to do this in the documentation.

See this issue for more context.

bmagyar commented 1 year ago

You want ros_control or ros2_control? Any update on whether you guys managed to?

matthew-william-lock commented 1 year ago

Looking for ros2, no updates

bmagyar commented 1 year ago

For that we have the ros2_controllers repo to open issues in.

First, let me show you the file where we define and describe the parameters:

https://github.com/ros-controls/ros2_controllers/blob/9c53e68c2bc4c35477f634c9e056e610da592d34/diff_drive_controller/src/diff_drive_controller_parameter.yaml#L77

bmagyar commented 1 year ago

Reading this I can say there doesn't seem to be a way to disable it at the moment. You could consider adding a PR adding a Boolean enable_... parameter controlling it. If you wish to discuss this more please open an issue on ros2_controllers.