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Bug fixes in main branch #362

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merged 6 commits into from
Feb 23, 2021
Merged

Bug fixes in main branch #362

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459cfca
robot_trajectory: Fix bugs in getRobotTrajectoryMsg function
JafarAbdi Feb 9, 2021
ba20ace
controller_manager: Use Duration(-1) as infinite timeout
JafarAbdi Feb 9, 2021
52f8441
ActionBasedControllerHandle: fix dangling reference in case of timeout
JafarAbdi Feb 9, 2021
b1202e2
TfPublisher: tf frame name can't start with '/'
JafarAbdi Feb 9, 2021
a44ccca
Merge branch 'main' into pr-main_bug_fixes
henningkayser Feb 17, 2021
6a820b0
Merge branch 'main' into pr-main_bug_fixes
henningkayser Feb 18, 2021
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4 changes: 2 additions & 2 deletions moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,8 +137,8 @@ class MoveItControllerHandle
*
* Return true if the execution is complete (whether successful or not).
* Return false if timeout was reached.
* If timeout is 0 (default argument), wait until the execution is complete (no timeout). */
virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(0.0)) = 0;
* If timeout is -1 (default argument), wait until the execution is complete (no timeout). */
virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(-1)) = 0;

/** \brief Return the execution status of the last trajectory sent to the controller. */
virtual ExecutionStatus getLastExecutionStatus() = 0;
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22 changes: 5 additions & 17 deletions moveit_core/robot_trajectory/src/robot_trajectory.cpp
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Expand Up @@ -223,9 +223,6 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::msg::RobotTrajectory& t
const std::vector<std::string>& joint_filter) const
{
trajectory = moveit_msgs::msg::RobotTrajectory();

builtin_interfaces::msg::Time stamp = rclcpp::Clock(RCL_ROS_TIME).now();

if (waypoints_.empty())
return;
const std::vector<const moveit::core::JointModel*>& jnts =
Expand Down Expand Up @@ -258,27 +255,24 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::msg::RobotTrajectory& t
if (!onedof.empty())
{
trajectory.joint_trajectory.header.frame_id = robot_model_->getModelFrame();
trajectory.joint_trajectory.header.stamp = stamp;
trajectory.joint_trajectory.header.stamp = rclcpp::Time(0, 0, RCL_ROS_TIME);
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Looking at the documentation for rclcpp::Time, it looks like the default is RCL_SYSTEM_TIME. What's the reason for something different here?

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@henningkayser henningkayser Feb 17, 2021 •
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RCL_ROS_TIME is default for node time as it should be able to support simulation and is therefore mostly used for messages. It's also the equivalent for the old ros::Time while system time uses the system clock directly. See https://design.ros2.org/articles/clock_and_time.html for background on time sources.

trajectory.joint_trajectory.points.resize(waypoints_.size());
}

if (!mdof.empty())
{
trajectory.multi_dof_joint_trajectory.header.frame_id = robot_model_->getModelFrame();
trajectory.multi_dof_joint_trajectory.header.stamp = stamp;
trajectory.multi_dof_joint_trajectory.header.stamp = rclcpp::Time(0, 0, RCL_ROS_TIME);
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trajectory.multi_dof_joint_trajectory.points.resize(waypoints_.size());
}

static const rclcpp::Duration ZERO_DURATION(0.0);
double total_time = 0.0;
rclcpp::Duration dur_total(0, 0);
for (std::size_t i = 0; i < waypoints_.size(); ++i)
{
if (duration_from_previous_.size() > i)
total_time += duration_from_previous_[i];

dur_total = rclcpp::Duration(1, 0) * total_time;

if (!onedof.empty())
{
trajectory.joint_trajectory.points[i].positions.resize(onedof.size());
Expand Down Expand Up @@ -310,8 +304,7 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::msg::RobotTrajectory& t
trajectory.joint_trajectory.points[i].effort.clear();

if (duration_from_previous_.size() > i)

trajectory.joint_trajectory.points[i].time_from_start = dur_total;
trajectory.joint_trajectory.points[i].time_from_start = rclcpp::Duration::from_seconds(total_time);
else
trajectory.joint_trajectory.points[i].time_from_start = ZERO_DURATION;
}
Expand Down Expand Up @@ -353,7 +346,7 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::msg::RobotTrajectory& t
}
}
if (duration_from_previous_.size() > i)
trajectory.multi_dof_joint_trajectory.points[i].time_from_start = dur_total;
trajectory.multi_dof_joint_trajectory.points[i].time_from_start = rclcpp::Duration::from_seconds(total_time);
else
trajectory.multi_dof_joint_trajectory.points[i].time_from_start = ZERO_DURATION;
}
Expand All @@ -364,19 +357,15 @@ void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& refe
const trajectory_msgs::msg::JointTrajectory& trajectory)
{
// make a copy just in case the next clear() removes the memory for the reference passed in

const moveit::core::RobotState& copy = reference_state;
clear();
std::size_t state_count = trajectory.points.size();
rclcpp::Time last_time_stamp = trajectory.header.stamp;
rclcpp::Time this_time_stamp = last_time_stamp;

rclcpp::Time traj_stamp = trajectory.header.stamp;
rclcpp::Duration dur_from_start(0, 0);

for (std::size_t i = 0; i < state_count; ++i)
{
this_time_stamp = traj_stamp + trajectory.points[i].time_from_start;
this_time_stamp = rclcpp::Time(trajectory.header.stamp) + trajectory.points[i].time_from_start;
moveit::core::RobotStatePtr st(new moveit::core::RobotState(copy));
st->setVariablePositions(trajectory.joint_names, trajectory.points[i].positions);
if (!trajectory.points[i].velocities.empty())
Expand All @@ -393,7 +382,6 @@ void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& refe
void RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::RobotState& reference_state,
const moveit_msgs::msg::RobotTrajectory& trajectory)
{
geometry_msgs::msg::TransformStamped tf_stamped;
// make a copy just in case the next clear() removes the memory for the reference passed in
const moveit::core::RobotState& copy = reference_state;
clear();
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12 changes: 6 additions & 6 deletions ...troller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h
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Expand Up @@ -139,15 +139,15 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
virtual void
controllerDoneCallback(const typename rclcpp_action::ClientGoalHandle<T>::WrappedResult& wrapped_result) = 0;

bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(0)) override
bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(-1)) override
{
std::promise<bool> result_callback_done;
auto result_callback_done = std::make_shared<std::promise<bool>>();
auto result_future = controller_action_client_->async_get_result(
current_goal_, [this, &result_callback_done](const auto& wrapped_result) {
current_goal_, [this, result_callback_done](const auto& wrapped_result) {
controllerDoneCallback(wrapped_result);
result_callback_done.set_value(true);
result_callback_done->set_value(true);
});
if (timeout.seconds() == 0.0)
if (timeout < std::chrono::nanoseconds(0))
{
result_future.wait();
}
Expand All @@ -161,7 +161,7 @@ class ActionBasedControllerHandle : public ActionBasedControllerHandleBase
}
}
// To accommodate for the delay after the future for the result is ready and the time controllerDoneCallback takes to finish
result_callback_done.get_future().wait();
result_callback_done->get_future().wait();
return true;
}

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10 changes: 5 additions & 5 deletions moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
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Expand Up @@ -124,12 +124,12 @@ void TfPublisher::publishPlanningSceneFrames()

void TfPublisher::initialize()
{
rclcpp::Node::SharedPtr n(new rclcpp::Node("TFPublisher"));
std::string prefix = context_->node_->get_name();
context_->node_->get_parameter_or("planning_scene_frame_publishing_rate", rate_, 10);
context_->node_->get_parameter_or("planning_scene_tf_prefix", prefix_, prefix);
if (!prefix_.empty())
prefix_ += "/";

std::string prefix = n->get_namespace();
prefix += "/";
n->get_parameter_or("planning_scene_frame_publishing_rate", rate_, 10);
n->get_parameter_or("planning_scene_tf_prefix", prefix_, prefix);
keep_running_ = true;

RCLCPP_INFO(LOGGER, "Initializing MoveGroupTfPublisher with a frame publishing rate of %d", rate_);
Expand Down