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stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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[BalanceControler] [CtrlManager] Balance controler should generate an emergency stop signal if no solution is found. #11

Open thomasfla opened 7 years ago

thomasfla commented 7 years ago

At the moment, if the balance problem comes to be infeasible, the system is stopped by generating a segfault, so it is impossible to investigate the reason of the stop.

A bool signal should be exposed and connected to ctrl-manager.

Ctrl-manager reads this bolean signal: "emergencyStop" https://github.com/stack-of-tasks/sot-torque-control/blob/master/include/sot/torque_control/control-manager.hh#L108

As multiple entities could stop the control, we could OR the different emergencyStops to then provide the result to ctrl-manager, or we could add emergencyStop inputs on the go via a dedicated ctrl-manager command.

flforget commented 7 years ago

commit 6e69ca3a allow emergency signal creation on the go in ctrl-manager. If one of these signals if triggered, the control is stopped.

the balanceControler emergency signal is still to be exposed and connected