Added detection of jumpback in time to clear contacts - Githubissues

ubi-agni / tactile_toolbox

software to handle tactile sensors in ROS

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Added detection of jumpback in time to clear contacts #14

Closed guihomework closed 3 years ago

guihomework commented 3 years ago

fixes #9

rhaschke commented 3 years ago

Thanks for eventually filing a PR for this. I already started tackling this issue as well (taking your initial branch as a basis), but I noticed several other, closely related issues, which are all addressed in https://github.com/ubi-agni/tactile_toolbox/pull/13/commits/a5c8a3462421eda325ba070b46ddbe5cd1ba27f3:

Time reset is also affecting TactileStateDisplay
If the time reset is not triggered by rosbag play --loop, but by a restart of the sim time server AND if the tactile_state publishing is not publishing anymore after with this reset, old contact wrenches were still dangling around. They were actually generated by the tactile_merger, which just remembers and publishes the latest contact.

Hence, I will close here in favor of the more thorough handling of this issue in #13.