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JTC trajectory end time validation fix #1090

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merged 7 commits into from
May 22, 2024
Merged

JTC trajectory end time validation fix #1090

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603f8d9
fix JTC end time validation
henrygerardmoore Mar 27, 2024
8952c29
move trajectory check to before length validation
henrygerardmoore Mar 27, 2024
7d6598f
add test case
henrygerardmoore Apr 11, 2024
78b8a74
Merge branch 'master' into jtc_validation_fix
henrygerardmoore Apr 11, 2024
6959507
added successful test case
henrygerardmoore Apr 12, 2024
551d69a
Merge branch 'master' into jtc_validation_fix
henrygerardmoore Apr 30, 2024
bcce4a6
Merge branch 'master' into jtc_validation_fix
christophfroehlich May 22, 2024
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19 changes: 8 additions & 11 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1370,17 +1370,20 @@ bool JointTrajectoryController::validate_trajectory_msg(
return false;
}

if (trajectory.points.empty())
{
RCLCPP_ERROR(get_node()->get_logger(), "Empty trajectory received.");
return false;
}

const auto trajectory_start_time = static_cast<rclcpp::Time>(trajectory.header.stamp);
// If the starting time it set to 0.0, it means the controller should start it now.
// Otherwise we check if the trajectory ends before the current time,
// in which case it can be ignored.
if (trajectory_start_time.seconds() != 0.0)
{
auto trajectory_end_time = trajectory_start_time;
for (const auto & p : trajectory.points)
{
trajectory_end_time += p.time_from_start;
}
auto const trajectory_end_time =
trajectory_start_time + trajectory.points.back().time_from_start;
if (trajectory_end_time < get_node()->now())
{
RCLCPP_ERROR(
Expand All @@ -1405,12 +1408,6 @@ bool JointTrajectoryController::validate_trajectory_msg(
}
}

if (trajectory.points.empty())
{
RCLCPP_ERROR(get_node()->get_logger(), "Empty trajectory received.");
return false;
}

if (!params_.allow_nonzero_velocity_at_trajectory_end)
{
for (size_t i = 0; i < trajectory.points.back().velocities.size(); ++i)
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11 changes: 11 additions & 0 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1384,6 +1384,17 @@ TEST_P(TrajectoryControllerTestParameterized, invalid_message)
traj_msg = good_traj_msg;
traj_msg.points.push_back(traj_msg.points.front());
EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg));

// End time in the past
traj_msg = good_traj_msg;
traj_msg.header.stamp = rclcpp::Time(1);
EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg));
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// End time in the future
traj_msg = good_traj_msg;
traj_msg.header.stamp = traj_controller_->get_node()->now();
traj_msg.points[0].time_from_start = rclcpp::Duration::from_seconds(10);
EXPECT_TRUE(traj_controller_->validate_trajectory_msg(traj_msg));
}

/**
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