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ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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joint_state_controller will not publish when reset_controllers is held True #616

Closed BryanStuurman closed 10 months ago

BryanStuurman commented 1 year ago

I have a robot that, when it encounters an error condition (such as e-stop), it continually asserts reset_controllers=True on the controller manager update() method. This triggers a call to the joint state controllers starting() method which re-initializes the last_publishtime variable, effectively preventing the joint state controller update() method from ever publishing joint states.

I have built a quick fix to initialise last_publishtime once per joint state controller instantiation, found here: https://github.com/ros-controls/ros_controllers/compare/noetic-devel...BryanStuurman:ros_controllers:fix-jsc-reset-publish

and I would be happy to submit a PR if the community so desires.

bmagyar commented 1 year ago

Please do!

On Tue, 30 May 2023, 00:51 Bryan Stuurman, @.***> wrote:

I have a robot that, when it encounters an error condition (such as e-stop), it continually asserts reset_controllers=True on the controller manager update() method. This triggers a call to the joint state controllers starting() method which re-initializes the last_publishtime variable, effectively preventing the joint state controller update() method from ever publishing joint states.

I have built a quick fix to initialise last_publishtime once per joint state controller instantiation, found here: noetic-devel...BryanStuurman:ros_controllers:fix-jsc-reset-publish https://github.com/ros-controls/ros_controllers/compare/noetic-devel...BryanStuurman:ros_controllers:fix-jsc-reset-publish

and I would be happy to submit a PR if the community so desires.

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BryanStuurman commented 1 year ago

aye aye sir! https://github.com/ros-controls/ros_controllers/pull/617

BryanStuurman commented 10 months ago

pr #617 merged, issue closed.