I am not fine with it at all....
Writing an empty trajectory is an implicit way to stop the robot.
Especially the CorridorServoing depends on this.
Greetings
Janosch
On 21.03.2014 13:52, Christian Rauch wrote:
The attached patch describes how the follower should behave.
It will enable the trajectory follower only to send motion commands as
long as it is processing a trajectory.
If you are fine with these changes, I would like to push it to master
by end of today.
Regards,
Christian
Am 21.03.2014 13:06, schrieb Janosch Machowinski:
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
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
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