From 923767fcf8df2ef82c313a5cfadb1e0fbe46cab2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 11 Sep 2023 17:40:15 +0200 Subject: [PATCH] [JTC] Add note on goal_time=0 in docs (#773) --- joint_trajectory_controller/doc/parameters.rst | 1 + .../src/joint_trajectory_controller_parameters.yaml | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/joint_trajectory_controller/doc/parameters.rst b/joint_trajectory_controller/doc/parameters.rst index d5ddb831ca..199f1b30dc 100644 --- a/joint_trajectory_controller/doc/parameters.rst +++ b/joint_trajectory_controller/doc/parameters.rst @@ -78,6 +78,7 @@ constraints.stopped_velocity_tolerance (double) constraints.goal_time (double) Maximally allowed tolerance for not reaching the end of the trajectory in a predefined time. + If set to zero, the controller will wait a potentially infinite amount of time. Default: 0.0 (not checked) diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml index 0daf3f41bd..d299944976 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml +++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml @@ -124,7 +124,8 @@ joint_trajectory_controller: goal_time: { type: double, default_value: 0.0, - description: "Time tolerance for achieving trajectory goal before or after commanded time.", + description: "Time tolerance for achieving trajectory goal before or after commanded time. + If set to zero, the controller will wait a potentially infinite amount of time.", validation: { gt_eq: [0.0], }