Properly retrieve parameters in the Joint Trajectory Controller #365
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AndyZe
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Jun 16, 2022
| "allow_integration_in_goal_trajectories", allow_integration_in_goal_trajectories_); | ||
| auto_declare<double>("constraints.stopped_velocity_tolerance", 0.01); | ||
| auto_declare<double>("constraints.goal_time", 0.0); |
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As far as I can tell, constraints.goal_time isn't used anywhere. Same for stopped_velocity_tolerance.
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yeah, these params I think are pretty much just used in the tolerances.hpp file https://github.com/ros-controls/ros2_controllers/blob/master/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp#L103
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Fixes #364.
There are probably similar fixes that should be made for the other controller types.
I looked into adding the [[nodiscard]] attribute to
auto_declarebut it doesn't work with templates. :(