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fix :wait-interpolation-smooth for pr2_controllers_msgs/JointTrajectoryActionFeedback #235

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Jun 22, 2016
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fix :wait-interpolation-smooth for pr2_controllers_msgs/JointTrajectoryActionFeedback #235

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8 changes: 6 additions & 2 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,12 @@
(let ((finish-time) (current-time))
(ros::ros-debug "[~A] feedback-cb ~A" ros::name-space msg)
(unless (and (send ros::comm-state :action-goal) (not (equal (send (class ros::action-spec) :name) 'control_msgs::SingleJointPositionAction))) (return-from :action-feedback-cb nil))
(setq current-time (send msg :feedback :error :time_from_start)
finish-time (send (car (last (send (send ros::comm-state :action-goal) :goal :trajectory :points))) :time_from_start))
;; Type: pr2_controllers_msgs/JointTrajectoryActionFeedback does not have :error
(cond ((derivedp msg pr2_controllers_msgs::jointtrajectoryactionfeedback)
(setq current-time (ros::time- (ros::time-now) (send msg :status :goal_id :stamp))))
(t
(setq current-time (send msg :feedback :error :time_from_start))))
(setq finish-time (send (car (last (send (send ros::comm-state :action-goal) :goal :trajectory :points))) :time_from_start))
(when (string= (send (send ros::comm-state :action-goal) :goal_id :id)
(send msg :status :goal_id :id))
(setq time-to-finish (send (ros::time- finish-time current-time) :to-sec)))
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