[JTC] Make goal_time_tolerance overwrite default value only if explicitly set #1192
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The goal_time_tolerance value was always shadowing the one from the action server parameter. This commit makes it behave much more like the path tolerances and the goal tolerances.
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saikishor
christophfroehlich
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Jul 5, 2024
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Thanks for bringing this up, and fixing it immediately! But the test_tolerances test fails now, and we should test now the options for the goal_time_tolerances too.
: [ RUN ] TestTolerancesFixture.test_deactivate_tolerances
2: /workspaces/ros2_humble_ws/src/ros2_controllers/joint_trajectory_controller/test/test_tolerances.cpp:190: Failure
2: Expected equality of these values:
2: active_tolerances.goal_time_tolerance
2: Which is: 0.10000000000000001
2: 0.0
2: Which is: 0
2: [ FAILED ] TestTolerancesFixture.test_deactivate_tolerances (0 ms)
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Waiting for new test then? |
Also updated expectDefaultTolerances to check for the goal_time_tolerance.
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I've updated the |
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I'll merge this so the release I'm pushing won't have behaviour-breaking changes. |
saikishor
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Jul 9, 2024
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Jul 10, 2024
…itly set (ros-controls#1192) Signed-off-by: Henry Moore <[email protected]>
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…itly set (ros-controls#1192) Signed-off-by: Henry Moore <[email protected]> Signed-off-by: Henry Moore <[email protected]>
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@Mergifyio backport iron humble |
✅ Backports have been created
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destogl
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…itly set (backport #1192 + #1209) (#1208) --------- Co-authored-by: Felix Exner (fexner) <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>
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…itly set (backport #1192 + #1209) (#1207) --------- Co-authored-by: Felix Exner (fexner) <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>
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Since #716 we process the tolerances set from the action goal. This was done as described in https://github.com/ros-controls/control_msgs/blob/65814d985aa29bed0adfaed5f2ebd8cf26266056/control_msgs/action/FollowJointTrajectory.action#L6-L10 and https://github.com/ros-controls/control_msgs/blob/65814d985aa29bed0adfaed5f2ebd8cf26266056/control_msgs/msg/JointTolerance.msg#L7-L10.
However, the
goal_time_tolerancewas always overwritten with the value from the action goal. This actually changed the JTC's default behavior ifgoal_time_tolerance!= 0 was set in the controller config andgoal_time_toleranceor explicitly a0.0was given in the action goal.In this, case, the controller would wait indefinitely until the robot reached the final target independent of the
goal_time_toleranceconfigured inside the controller's default values.This PR makes it such as
goal_time_toleranceof0.0is given in the action (which is the default if left empty), the value from the controller config will be usedgoal_time_toleranceof-1.0is given the controller will wait at the end of the trajectory until the error gets lower than thegoal_tolerancefor each joint.goal_time_tolerance> 0.0 is given, thegoal_time_tolerancefrom the action goal will be used.goal_time_tolerancewill make the controller fall back to its configured tolerances completely.