[JointTrajectoryController] Add velocity-only command option for JTC with closed loop controller #239
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I can. I will follow the currently existing tests in the jtc package and add one to test velocity interface. |
Maybe you are lucky and can add simply a new parameterized test. Check the end of the file (before the last test). Last test should also be changed because it will fail if VELOCITY interface is enabled. |
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@destogl what is the decision with this? |
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| if (traj_controller_->get_has_velocity_command_interface()) | ||
| { | ||
| EXPECT_GT(0.0, joint_vel_[0]); |
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Does this mean that velocity can/should be smaller then 0?
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@destogl The idea was to set jumbled order of joint names and to set velocity with a wrong sign. The test is initialized, and the commands and states are set to zero. Here I want joints to go from {0.0, 0.0, 0.0} to {1.0, 2.0, 3.0} with velocity {-0.1, -0.1, -0.1} and if the velocity command interface is active, I know that PID should revert these velocity values into positive ones.
@bmagyar what do you think about it?
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Introduce velocity-only command interface for
JointTrajectoryControllerand extend tests for its usage.