JTC add more options for tolerance configuration #1677
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## master #1677 +/- ##
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Coverage 85.69% 85.69%
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I think the initial idea was to have them per-joint, as it is used in the action
https://github.com/ros-controls/control_msgs/blob/master/control_msgs/action/FollowJointTrajectory.action
and defined here
https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg
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I suggest adding the parameters constraints.__map_joints.trajectory_velocity, constraints.__map_joints.goal_velocity etc. We cannot easily rename the old parameters, as it would change existing code. If necessary, we have to deprecate the old parameters and add something like
constraints.__map_joints.path.position
constraints.__map_joints.path.velocity
constraints.__map_joints.path.acceleration
| // Read new velocity and acceleration tolerances | ||
| velocity_tolerance_ = get_node()->get_parameter("constraints.velocity_tolerance").as_double(); | ||
| acceleration_tolerance_ = | ||
| get_node()->get_parameter("constraints.acceleration_tolerance").as_double(); |
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you don't need to use get_parameter() method. Have a look at the structure params_ , generate_parameter_library automatically fills this.
Yes this PR is still a work in progress, have been busy with other work hence haven't got enough time to complete this. |
Closes #1180
Added new Parameters velocity_tolerance and acceleration_tolerance, to the Joint Trajectory Controller.