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Controllers not deactivated on error in update on Humble #1873
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@saikishor can we backport #1499? |
It shouldn't be hard to backport it. The problem is this is a change in behaviour, Moreover, I'm not sure if @ros-controls/ros2-maintainers are fine with this kind of change |
It is a change of behavior only if a user implemented an ERROR return value, which was just ignored up to now. However, I would not put too much effort in the backport, users always can build the rolling version from source to have all the new features. |
That would work for me. I can see how the change in behaviour is something to consider carefully. But arguably, the current behaviour is wrong ;) We can leave that up to @saikishor and the other @ros-controls/ros2-maintainers. |
We could log a warning if an ERROR was returned, but don't change the behavior of it? |
Yes that would also be an acceptable change which clearly lets the users know what is happening instead of (somewhat) silently failing on Humble! |
I do agree that it is wrong, that why I proposed this change for the Jazzy. The problem is the Humble doesn't have the disabling of controller when an ERROR is received in read and write cycles. That's why I'm hesitant to the change. Moreover, if the user doesn't have a robust hardware Component, then any NaN in the Handles might trigger this |
Describe the bug
When a controller returns
return_type::ERROR
in itsupdate()
function, it does not get deactivated.For example, using following snippet:
The controller will spam
Something bad happened
to the console continuously instead of stopping the controller.Expected behavior
I expected a controller to get deactivated once it returns
return_type::ERROR
.Environment (please complete the following information):
Additional context
This functionality is already implemented in the master branch (#1499). Is the choice to not include in Humble conscious? Are there any workarounds? Or would I need to build from source from the master branch?
Thanks!
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