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Apply renaming of member variables of JTC #1275

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merged 2 commits into from
Feb 17, 2025
Merged

Apply renaming of member variables of JTC #1275

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e80dbc6
Rename member variables
christophfroehlich Feb 16, 2025
1dc0880
Fix pre-commit
christophfroehlich Feb 16, 2025
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44 changes: 22 additions & 22 deletions ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,14 +128,14 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
const auto active_goal = *rt_active_goal_.readFromRT();

// Check if a new external message has been received from nonRT threads
auto current_external_msg = traj_external_point_ptr_->get_trajectory_msg();
auto new_external_msg = traj_msg_external_point_ptr_.readFromRT();
auto current_external_msg = current_trajectory_->get_trajectory_msg();
auto new_external_msg = new_trajectory_msg_.readFromRT();
// Discard, if a goal is pending but still not active (somewhere stuck in goal_handle_timer_)
if (current_external_msg != *new_external_msg && (*(rt_has_pending_goal_.readFromRT()) && !active_goal) == false) {
fill_partial_goal(*new_external_msg);
sort_to_local_joint_order(*new_external_msg);
// TODO(denis): Add here integration of position and velocity
traj_external_point_ptr_->update(*new_external_msg);
current_trajectory_->update(*new_external_msg);
}

// TODO(anyone): can I here also use const on joint_interface since the reference_wrapper is not
Expand Down Expand Up @@ -166,22 +166,22 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const

bool first_sample = false;
// if sampling the first time, set the point before you sample
if (!traj_external_point_ptr_->is_sampled_already()) {
if (!current_trajectory_->is_sampled_already()) {
first_sample = true;
if (params_.open_loop_control) {
traj_external_point_ptr_->set_point_before_trajectory_msg(traj_time, last_commanded_state_);
current_trajectory_->set_point_before_trajectory_msg(traj_time, last_commanded_state_);
} else {
traj_external_point_ptr_->set_point_before_trajectory_msg(traj_time, state_current_);
current_trajectory_->set_point_before_trajectory_msg(traj_time, state_current_);
}
}

// find segment for current timestamp
joint_trajectory_controller::TrajectoryPointConstIter start_segment_itr, end_segment_itr;
const bool valid_point = traj_external_point_ptr_->sample(traj_time, interpolation_method_, state_desired_,
start_segment_itr, end_segment_itr);
const bool valid_point = current_trajectory_->sample(traj_time, interpolation_method_, state_desired_,
start_segment_itr, end_segment_itr);

if (valid_point) {
const rclcpp::Time traj_start = traj_external_point_ptr_->time_from_start();
const rclcpp::Time traj_start = current_trajectory_->time_from_start();
// this is the time instance
// - started with the first segment: when the first point will be reached (in the future)
// - later: when the point of the current segment was reached
Expand All @@ -193,16 +193,16 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
bool tolerance_violated_while_moving = false;
bool outside_goal_tolerance = false;
bool within_goal_time = true;
const bool before_last_point = end_segment_itr != traj_external_point_ptr_->end();
const bool before_last_point = end_segment_itr != current_trajectory_->end();

// have we reached the end, are not holding position, and is a timeout configured?
// Check independently of other tolerances
if (!before_last_point && *(rt_is_holding_.readFromRT()) == false && cmd_timeout_ > 0.0 &&
time_difference > cmd_timeout_) {
RCLCPP_WARN(get_node()->get_logger(), "Aborted due to command timeout");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
new_trajectory_msg_.reset();
new_trajectory_msg_.initRT(set_hold_position());
}

// Check state/goal tolerance
Expand Down Expand Up @@ -292,8 +292,8 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const

RCLCPP_WARN(get_node()->get_logger(), "Aborted due to state tolerance violation");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
new_trajectory_msg_.reset();
new_trajectory_msg_.initRT(set_hold_position());
} else if (!before_last_point) { // check goal tolerance
if (!outside_goal_tolerance) {
auto res = std::make_shared<FollowJTrajAction::Result>();
Expand All @@ -306,8 +306,8 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const

RCLCPP_INFO(get_node()->get_logger(), "Goal reached, success!");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
new_trajectory_msg_.reset();
new_trajectory_msg_.initRT(set_hold_position());
} else if (!within_goal_time) {
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED);
Expand All @@ -320,21 +320,21 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
RCLCPP_WARN(get_node()->get_logger(), "Aborted due goal_time_tolerance exceeding by %f seconds",
time_difference);

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
new_trajectory_msg_.reset();
new_trajectory_msg_.initRT(set_hold_position());
}
}
} else if (tolerance_violated_while_moving && *(rt_has_pending_goal_.readFromRT()) == false) {
// we need to ensure that there is no pending goal -> we get a race condition otherwise
RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
new_trajectory_msg_.reset();
new_trajectory_msg_.initRT(set_hold_position());
} else if (!before_last_point && !within_goal_time && *(rt_has_pending_goal_.readFromRT()) == false) {
RCLCPP_ERROR(get_node()->get_logger(), "Exceeded goal_time_tolerance: holding position...");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
new_trajectory_msg_.reset();
new_trajectory_msg_.initRT(set_hold_position());
}
// else, run another cycle while waiting for outside_goal_tolerance
// to be satisfied (will stay in this state until new message arrives)
Expand Down
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