Always call trajectoryStop if an empty joint traj message is received

ros-industrial / industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)

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Always call trajectoryStop if an empty joint traj message is received #199

Closed schornakj closed 3 years ago

schornakj commented 6 years ago

Fix for issue #175. It looks like the desired behavior is:

If the trajectory message is empty, we should stop the current trajectory regardless of the current state.
If the message is not empty but the state is something other than IDLE, we should log an error to tell the user that trajectory splicing isn't currently implemented, and also stop the current trajectory.

gavanderhoorn commented 6 years ago

Thanks for the PR.

I noticed that your commit isn't actually attributed to your account (uses your @wpi address). Would you want to fix that first?

schornakj commented 6 years ago

Thank you for checking account attribution - I'll fix that later today and update.

schornakj commented 6 years ago

@gavanderhoorn Just tying up loose ends -- do these changes still look OK?

Levi-Armstrong commented 5 years ago

@gavanderhoorn Any objections to merging this?

schornakj commented 4 years ago

@gavanderhoorn I was going through my open PRs and I noticed that this one is still unresolved. Looks like it just needs someone authoritative to review it. Is this still a fix we want to implement?

gavanderhoorn commented 3 years ago

Rebased version in #260 (with some additional commits).

gavanderhoorn commented 3 years ago

Thanks for the initial PR @schornakj :+1: