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JointTrajectoryController: Hold on abort - noetic port #634

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JointTrajectoryController: Hold on abort - noetic port #634

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7716845
Holding the current position if path tolerances were violated
Martin-Oehler Dec 11, 2018
2e83406
holding position when goal tolerance was violated
Martin-Oehler Dec 13, 2018
3160fe4
extended test cases for tolerance violations to check for movement af…
Martin-Oehler Jan 11, 2019
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7 changes: 7 additions & 0 deletions ...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -403,6 +403,10 @@ update(const ros::Time& time, const ros::Duration& period)
ROS_ERROR_STREAM_NAMED(name_,"Path tolerances failed for joint: " << joint_names_[i]);
checkStateTolerancePerJoint(state_joint_error_, joint_tolerances.state_tolerance, true);
}

// If we violate path tolerance then hold current position
setHoldPosition(time_data.uptime, rt_active_goal_);

rt_segment_goal->preallocated_result_->error_code =
control_msgs::FollowJointTrajectoryResult::PATH_TOLERANCE_VIOLATED;
rt_segment_goal->preallocated_result_->error_string = joint_names_[i] + " path error " + std::to_string( state_joint_error_.position[0] );
Expand Down Expand Up @@ -442,6 +446,9 @@ update(const ros::Time& time, const ros::Duration& period)
checkStateTolerancePerJoint(state_joint_error_, tolerances.goal_state_tolerance, true);
}

// If we violate goal tolerances then hold current position
setHoldPosition(time_data.uptime, rt_active_goal_);

rt_segment_goal->preallocated_result_->error_code = control_msgs::FollowJointTrajectoryResult::GOAL_TOLERANCE_VIOLATED;
rt_segment_goal->preallocated_result_->error_string = joint_names_[i] + " goal error " + std::to_string( state_joint_error_.position[0] );
rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
Expand Down
33 changes: 32 additions & 1 deletion joint_trajectory_controller/test/joint_trajectory_controller_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1203,6 +1203,17 @@ TEST_F(JointTrajectoryControllerTest, pathToleranceViolation)
// Controller continues execution, see https://github.com/ros-controls/ros_controllers/issues/48
// Make sure to restore an error-less state for the tests to continue

// Check that we're not moving
StateConstPtr state1 = getState();
ros::Duration(0.5).sleep(); // Wait
StateConstPtr state2 = getState();
for (unsigned int i = 0; i < n_joints; ++i)
{
EXPECT_NEAR(state1->desired.positions[i], state2->desired.positions[i], EPS);
EXPECT_NEAR(state1->desired.velocities[i], state2->desired.velocities[i], EPS);
EXPECT_NEAR(state1->desired.accelerations[i], state2->desired.accelerations[i], EPS);
}

// Restore perfect control
{
std_msgs::Float64 smoothing;
Expand Down Expand Up @@ -1279,7 +1290,7 @@ TEST_F(JointTrajectoryControllerTest, goalToleranceViolation)
// Make robot respond with a delay
{
std_msgs::Float64 smoothing;
smoothing.data = 0.95;
smoothing.data = 0.98;
smoothing_pub.publish(smoothing);
ASSERT_TRUE(waitForRobotReady());
}
Expand Down Expand Up @@ -1307,6 +1318,9 @@ TEST_F(JointTrajectoryControllerTest, goalToleranceViolation)
// Controller continues execution, see https://github.com/ros-controls/ros_controllers/issues/48
// Make sure to restore an error-less state for the tests to continue

// Check that we're not moving after restoring perfect control
StateConstPtr state1 = getState();

// Restore perfect control
{
std_msgs::Float64 smoothing;
Expand All @@ -1317,6 +1331,13 @@ TEST_F(JointTrajectoryControllerTest, goalToleranceViolation)

ros::Duration timeout = getTrajectoryDuration(traj_goal.trajectory) + ros::Duration(TIMEOUT_TRAJ_EXECUTION_S);
EXPECT_TRUE(waitForStop(timeout));

StateConstPtr state2 = getState();
for (unsigned int i = 0; i < n_joints; ++i)
{
EXPECT_NEAR(state1->actual.positions[i], state2->actual.positions[i], EPS);
EXPECT_NEAR(state1->actual.velocities[i], state2->actual.velocities[i], EPS);
}
}

TEST_F(JointTrajectoryControllerTest, goalToleranceViolationSingleJoint)
Expand Down Expand Up @@ -1380,11 +1401,21 @@ TEST_F(JointTrajectoryControllerTest, goalToleranceViolationSingleJoint)
// Controller continues execution, see https://github.com/ros-controls/ros_controllers/issues/48
// Make sure to restore an error-less state for the tests to continue

// Check that we're not moving after restoring perfect control
StateConstPtr state1 = getState();

// Restore perfect control
smoothings.data.assign({0., 0.});
smoothings_pub.publish(smoothings);
ASSERT_TRUE(waitForRobotReady());
EXPECT_TRUE(waitForStop(restore_timeout));

StateConstPtr state2 = getState();
for (unsigned int i = 0; i < n_joints; ++i)
{
EXPECT_NEAR(state1->actual.positions[i], state2->actual.positions[i], EPS);
EXPECT_NEAR(state1->actual.velocities[i], state2->actual.velocities[i], EPS);
}
}

int main(int argc, char** argv)
Expand Down