On 21.03.2014 10:56, Christian Rauch wrote:
Hi,
the TrajectoryFollower::Task is currently writing stop motion commands
(0,0) if:
- there is no pose
- there is no trajectory set
- it reached the end of the trajectory
I would like to have the task only sending motion commands when it
actually follows a trajectory. In all of the cases above the
TrajectoryFollower has nothing to follow and should therefore not
generate any commands.
The reason is that the TrajectoryFollower blocks other tasks from
writing motion commands to the driver, even if it does not has
anything to do.
Did i understand right, that you have multiple input connections to one
task.
this is in general a bad idea, this is supported by orogen, but we do
not recommend this kind of usage for rock-setups.
I would recommend to re-think of your component design. Writing a zero
command if the component is not sure is for me a good design, to keep
the control-loop alive.
If you need something like this introduce switching-components or keep
only one active component for your motion input.
Best,
Matthias
Opinions?
Regards,
Christian
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Matthias Goldhoorn
Unterwasserrobotik
Standort Bremen:
DFKI GmbH
Robotics Innovation Center
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Fax: +49 (0)421 218-64150
E-Mail: [email protected]
Weitere Informationen: http://www.dfki.de/robotik
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