I like my robot to stop if it reaches the end of the trajectory.
For the case of no pose and no trajectory,
we could drop the 0,0 command
Greetings
Janosch
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.
Opinions?
Regards,
Christian
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--
Dipl. Inf. Janosch Machowinski
SAR- & Sicherheitsrobotik
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
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28359 Bremen, Germany
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