Am 21.03.2014 11:57, schrieb Matthias Goldhoorn:
At run time the network may change. Example: An action is stopped, not writing trajectories any more (respectively writing an empty trajectory) and another action writing raw motion command is started.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.
The point is, that we are using the corridor servoing where its functionality (map building, planning) is not separated and we do not want to stop the task as we would lose the map then. The planner then sends empty trajectories, even when it is not planning. Therefore the trajectory follower is always active, even without following a trajectory.
I only see two solutions for this: 1) separating the map building from the planning in the corridor servoing or 2) prevent the generation of motion commands in the trajectory follower, when not following trajectories.
From my point of view, a component should not generate commands when it is actually not controlling anything.
Kind regards, Christian
If you need something like this introduce switching-components or keep only one active component for your motion input. Best, MatthiasOpinions? Regards, Christian _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
-- Christian Rauch Space Robotics Universität Bremen FB 3 - Mathematik und Informatik AG Robotik Robert-Hooke-Straße 1 28359 Bremen, Germany Zentrale: +49 421 178 45-6611 Besuchsadresse der Nebengeschäftstelle: Robert-Hooke-Straße 5 28359 Bremen, Germany Tel: +49 421 178 45-6619 Empfang: +49 421 178 45-6600 Fax: +49 421 178 45-4150 E-Mail: [email protected] Weitere Informationen: http://www.informatik.uni-bremen.de/robotik
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