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start-jsk / rtmros_common

OpenRTM - ROS interoperability packages
http://wiki.ros.org/rtmros_common
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Joint trajectory is executed immediately even if its time stamp is in future #1048

Open pazeshun opened 6 years ago

pazeshun commented 6 years ago

(send *ri* :angle-vector (send *robot* :angle-vector) 1000 nil 10) immediately starts and completes in 1 sec, but it's wrong behaviour. angle-vector execution should start at 10 secs after commanding because start-time is set as 10 secs.

YoheiKakiuchi commented 6 years ago

HrpsysSeqStateROSBridge ignores start-time. (It's not only for roseus but also other ros interface. )

pazeshun commented 6 years ago

HrpsysSeqStateROSBridge ignores start-time.

Is there any reason for this? I think the simplest solution is to add sleep in action client callback when start-time is enabled, but does this solution harm something?

pazeshun commented 6 years ago

the simplest solution is to add sleep in action client callback when start-time is enabled

I found this solution is harmful because joint_states stops while sleeping...

emijah commented 6 years ago

Do you think you can add a countdown feature somewhere?

2018年7月10日(火) 13:09 Shun Hasegawa notifications@github.com:

the simplest solution is to add sleep in action client callback when start-time is enabled

I found this solution is harmful because joint_states stops while sleeping...

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pazeshun commented 6 years ago

Do you think you can add a countdown feature somewhere?

Maybe countdown feature can be added to execution loop.

emijah commented 6 years ago

That would be the best place to put it.

2018年7月10日(火) 18:02 Shun Hasegawa notifications@github.com:

Do you think you can add a countdown feature somewhere?

Maybe countdown feature can be added to execution loop.

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