Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[FEA] Allow all inactive in DEFAULT MODE. #97

Open
ZhenshengLee opened this issue Nov 12, 2022 · 2 comments
Open

[FEA] Allow all inactive in DEFAULT MODE. #97

ZhenshengLee opened this issue Nov 12, 2022 · 2 comments

Comments

@ZhenshengLee
Copy link

SHM file

# system modes example
---

actuation:
  ros__parameters:
    type: system
    parts:
      drive_base
      left/manipulator
      right/manipulator
    modes:
      __DEFAULT__:
        drive_base: inactive.__DEFAULT__
        left/manipulator: inactive.__DEFAULT__
        right/manipulator: inactive.__DEFAULT__
      LEFT:
        # drive_base: active.__DEFAULT__
        left/manipulator: active.__DEFAULT__
        # right/manipulsator: inactive.__DEFAULT__
      RIGHT:
        # drive_base: active.__DEFAULT__
        # left/manipulator: inactive.__DEFAULT__
        right/manipulator: active.__DEFAULT__


left/manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.1

drive_base:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_speed: 0.1
          controller: PID

right/manipulator:
  ros__parameters:
    type: node
    modes:
      __DEFAULT__:
        ros__parameters:
          max_torque: 0.11

step to reproduce

zs@zs-vm-2204:~/zs_ws/ga_ros$ time ros2 service call /actuation/change_state lifecycle_msgs/ChangeState "{transition: {id: 1, label: configure}}"
waiting for service to become available...
requester: making request: lifecycle_msgs.srv.ChangeState_Request(transition=lifecycle_msgs.msg.Transition(id=1, label='configure'))

response:
lifecycle_msgs.srv.ChangeState_Response(success=True)


real    0m2.185s
user    0m0.459s
sys     0m0.086s

expected behavior

all nodes would be in DEFAULT mode, which is all inactivated

actual behavior

image

@ralph-lange
Copy link
Contributor

ralph-lange commented Nov 16, 2022

@ZhenshengLee, sorry for answering so late/slow on your issues. I'll analyze them in next week. Looks as if they are related, i.e., have the same root cause.

@ZhenshengLee
Copy link
Author

@ZhenshengLee, sorry for answering so late/slow on your issues. I'll analyze them in next week. Looks as if they are related, i.e., have the same root cause.

Friendly ping...

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

2 participants