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[velocity_controllers] Add timeout to JointGroupVelocityController #582

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[velocity_controllers] Add timeout to JointGroupVelocityController #582

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21dc537
[forward_command_controller] Add parameter command_timeout - relates …
wxmerkt Nov 11, 2021
48b796e
[velocity_controllers] JointGroupVelocityController: Add command_time…
wxmerkt Nov 11, 2021
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12 changes: 12 additions & 0 deletions ...nd_controller/include/forward_command_controller/forward_joint_group_command_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,13 @@ class ForwardJointGroupCommandController: public controller_interface::Controlle
}
}

// Check if timeout parameter has been set. Read it if set, otherwise warn about unsafe default behaviour.
if(n.hasParam("command_timeout"))
{
n.getParam("command_timeout", command_timeout_);
ROS_INFO_STREAM("Using command timeout: " << command_timeout_);
}

commands_buffer_.writeFromNonRT(std::vector<double>(n_joints_, 0.0));

sub_command_ = n.subscribe<std_msgs::Float64MultiArray>("command", 1, &ForwardJointGroupCommandController::commandCB, this);
Expand All @@ -120,6 +127,8 @@ class ForwardJointGroupCommandController: public controller_interface::Controlle
std::vector< std::string > joint_names_;
std::vector< hardware_interface::JointHandle > joints_;
realtime_tools::RealtimeBuffer<std::vector<double> > commands_buffer_;
realtime_tools::RealtimeBuffer<ros::Time> last_received_command_time_buffer_;
double command_timeout_ = -1.0;
unsigned int n_joints_;

private:
Expand All @@ -132,6 +141,9 @@ class ForwardJointGroupCommandController: public controller_interface::Controlle
return;
}
commands_buffer_.writeFromNonRT(msg->data);

// Record time of last received command
last_received_command_time_buffer_.writeFromNonRT(ros::Time::now());
}
};

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25 changes: 23 additions & 2 deletions velocity_controllers/src/joint_group_velocity_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,33 @@
#include <velocity_controllers/joint_group_velocity_controller.h>
#include <pluginlib/class_list_macros.hpp>

template <class T>
void forward_command_controller::ForwardJointGroupCommandController<T>::starting(const ros::Time& time)
template<>
void velocity_controllers::JointGroupVelocityController::starting(const ros::Time& /*time*/)
{
// Start controller with 0.0 velocities
commands_buffer_.readFromRT()->assign(n_joints_, 0.0);
}

template<>
void velocity_controllers::JointGroupVelocityController::update(const ros::Time& time, const ros::Duration& /*period*/)
{
std::vector<double> & commands = *commands_buffer_.readFromRT();

// Check timeout
if (command_timeout_ > 0.0)
{
ros::Time& last_received_command_time = *last_received_command_time_buffer_.readFromRT();
const double command_age = (time - last_received_command_time).toSec();
if (std::abs(command_age) > command_timeout_)
{
ROS_WARN_STREAM_THROTTLE(10, "Commands timed out, setting to zero.");
for (std::size_t i = 0; i < commands.size(); ++i)
{ commands[i] = 0; }
}
}

for(unsigned int i=0; i<n_joints_; i++)
{ joints_[i].setCommand(commands[i]); }
}

PLUGINLIB_EXPORT_CLASS(velocity_controllers::JointGroupVelocityController,controller_interface::ControllerBase)