fix(modulo-controllers): typo in controller descriptions

aica-technology · Oct 18, 2024 · 86385a0 · 86385a0
1 parent 8dcf823
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [5.0.0](#501)
 - [5.0.0](#500)
 - [4.2.2](#422)
 - [4.2.1](#421)
@@ -16,6 +17,19 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
+## 5.0.1
+
+### October 18th, 2024
+
+Version 5.0.1 includes a patch fix for `modulo_controllers`.
+
+#### modulo_controllers
+
+The patch fix that renames `input_validity_period_` to `input_validity_period` in `controller_descriptions`. 
+This minor typo is incompatible with the schema.
+
+- fix(modulo_controllers): typo in modulo controller descriptions
+
 ## 5.0.0
 
 ### October 9th, 2024

diff --git a/...e/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json b/...e/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json
@@ -45,7 +45,7 @@
     {
       "display_name": "Input validity period",
       "description": "The maximum age of an input state before discarding it as expired",
-      "parameter_name": "input_validity_period_",
+      "parameter_name": "input_validity_period",
       "parameter_type": "double",
       "default_value": "1.0"
     },

diff --git a/source/modulo_controllers/src/RobotControllerInterface.cpp b/source/modulo_controllers/src/RobotControllerInterface.cpp
@@ -292,6 +292,7 @@ const JointState& RobotControllerInterface::get_joint_state() {
 const CartesianState& RobotControllerInterface::get_cartesian_state() {
   // TODO check if recompute is necessary?
   compute_cartesian_state();
+RCLCPP_WARN(get_node()->get_logger(), "ok11");
   return cartesian_state_;
 }
 
@@ -301,10 +302,13 @@ const CartesianWrench& RobotControllerInterface::get_ft_sensor() {
 
 void RobotControllerInterface::compute_cartesian_state() {
   if (robot_ != nullptr) {
+RCLCPP_WARN_STREAM(get_node()->get_logger(), "ok8 " << std::boolalpha << joint_state_.is_empty());
     cartesian_state_ = robot_->forward_kinematics(joint_state_, task_space_frame_);
     cartesian_state_.set_twist(robot_->forward_velocity(joint_state_, task_space_frame_).get_twist());
+RCLCPP_WARN(get_node()->get_logger(), "ok9");
 
     if (!ft_sensor_.is_empty() && (ft_sensor_.get_reference_frame() == cartesian_state_.get_name())) {
+RCLCPP_WARN(get_node()->get_logger(), "ok10");
       auto ft_sensor_in_robot_frame = cartesian_state_ * ft_sensor_;
       cartesian_state_.set_wrench(ft_sensor_in_robot_frame.get_wrench());
     }