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Fix jumps in motion control handle #213

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merged 2 commits into from
Oct 18, 2024
Merged

Fix jumps in motion control handle #213

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24565ee
Fixed handle jumps when switching fixed frame in Rviz
Jun 2, 2024
6c5fbec
Clang-format previous changes
stefanscherzinger Oct 18, 2024
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14 changes: 12 additions & 2 deletions cartesian_controller_handles/src/motion_control_handle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,15 @@ controller_interface::return_type MotionControlHandle::update(const rclcpp::Time
controller_interface::return_type MotionControlHandle::update()
#endif
{
if (m_current_pose.header.frame_id != m_robot_base_link && m_current_pose.header.frame_id != "")
{
RCLCPP_ERROR(
get_node()->get_logger(),
"The reference frame \"%s\" selected in Rviz is not a fixed frame. Please select a "
"fixed frame.",
m_current_pose.header.frame_id.c_str());
return controller_interface::return_type::ERROR;
}
// Publish marker pose
m_current_pose.header.stamp = get_node()->now();
m_current_pose.header.frame_id = m_robot_base_link;
Expand Down Expand Up @@ -248,12 +257,13 @@ void MotionControlHandle::updateMotionControlCallback(
const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr & feedback)
{
// Move marker in RViz
m_server->setPose(feedback->marker_name, feedback->pose);
m_server->setPose(feedback->marker_name, feedback->pose, feedback->header);
m_server->applyChanges();

// Store for later broadcasting
m_current_pose.pose = feedback->pose;
m_current_pose.header.stamp = get_node()->now();
m_current_pose.header.frame_id = feedback->header.frame_id;
m_current_pose.header.stamp = feedback->header.stamp;
}

void MotionControlHandle::updateMarkerMenuCallback(
Expand Down
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