search

squirrel-project / squirrel_driver

0 stars 14 forks source link

stop publishing to cmd_vel #129

Closed mzillich closed 6 years ago

mzillich commented 7 years ago

Currently squirrel_controller publishes commands to the joints and base constantly, as part of the SquirrelHWControlLoop::update() loop. It should hovever only send commands while executing a trajectory. Otherwise the squirrel_controller will "freeze" the base, and prevent move_base and even the joystick from moving the base. So a flag or something "executing_trajectgory" would need to be added.

ghost commented 7 years ago

We'll have a look at it today.

We will fix this by adding a topic for start and stopping the publisher - we do not want to interfere with the internals of ros_control.

ghost commented 7 years ago

Fixed. The controller now only publishes to /cmd_rotatory upon receiving a new trajectory; after the goal has been reached, nothing is published to the base anymore from the controller side (not the arm!). This is a dirty hack that violates ros_control.

Please test and close.

ipa-nhg commented 7 years ago

@lokalmatador thanks! could you please open a Pull Request?

ipa-nhg commented 7 years ago

This can be closed as soon as https://github.com/squirrel-project/squirrel_driver/pull/133 is merged

ghost commented 7 years ago

Can't close :(

ipa-nhg commented 6 years ago

merged https://github.com/squirrel-project/squirrel_driver/pull/133 can be closed