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Fix the controller deactivation on the control cycles returning ERROR #1756
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Fix the controller deactivation on the control cycles returning ERROR #1756
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1756 +/- ##
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+ Coverage 87.97% 88.05% +0.08%
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Files 121 122 +1
Lines 13232 13371 +139
Branches 1195 1207 +12
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+ Hits 11641 11774 +133
- Misses 1149 1155 +6
Partials 442 442
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Could you please briefly summarize your solution for me? |
@christophfroehlich sure! Right now, we have the above issues because the prepare_command_switch and perform_command_swirch are not called when deactivating the controller. So, the hardware is not aware of the resources not being used any more. Now, I've added prepare_command_switch and perform_command_switch, so that the hardware will be aware of the changes and act accordingly. In our case, if the robot is EFFORT, FORCE or TORQUE control mode, we change the actuator to IDLE mode, if there are no more interfaces to activate for those motors. This way it is safer. Moreover, as now the hardware is aware of the deactivated resources, when you try to activate the same controller again or a different controller that uses different resources of that joint, it will be able to properly activate the controller. |
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Thanks for the explanation. The changes and the test looks fine for me.
This pull request is in conflict. Could you fix it @saikishor? |
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@@ -2466,6 +2486,26 @@ controller_interface::return_type ControllerManager::update( | |||
RCLCPP_ERROR( | |||
get_logger(), "Activating fallback controllers : [ %s]", controllers_string.c_str()); | |||
} | |||
std::vector<std::string> failed_controller_interfaces, fallback_controller_interfaces; | |||
failed_controller_interfaces.reserve(500); |
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Isn't this in the update method? Can we do this ahead of time?
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Right now, we are just deactivating the controllers when we have an ÈRROR` returned from the hardware or from the controller update cycles, but there could be 2 different issues with this approach:
EFFORT
mode it is not safe as any unsafe command it left in the interface and the hardware continues to maintain it. It is dangerous in some situationsThis PR proposes a solution for the above issues and a test is added to check for the proper functionality