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.

Sign up for GitHub

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

Jump to bottom

Joint trajectory controller: Change default for stop_trajectory_duration parameter. #73

Closed
adolfo-rt opened this issue Dec 4, 2013 · 2 comments
Closed

Joint trajectory controller: Change default for stop_trajectory_duration parameter. #73

adolfo-rt opened this issue Dec 4, 2013 · 2 comments
Assignees
@adolfo-rt

Comments

@adolfo-rt
Copy link
Member

The stop_trajectory_duration parameter of the controller currently defaults to 0.5s. I think it would be best to default it to zero. Since this potentially changes behavior, should I defer the change to Indigo or can it be considered small enough to make it to Hydro?.

Parameter doc follows:

When starting the controller or canceling a trajectory, position hold mode is entered. This parameter specifies the time it takes to bring the current state (position and velocity) to a stop. Its value can be greater or equal than zero.
@ghost ghost assigned adolfo-rt Dec 4, 2013
@jim-rothrock
Copy link

I say change it now.

adolfo-rt pushed a commit to pal-robotics-forks/ros_controllers that referenced this issue Dec 12, 2013
Default stop_trajectory_duration to zero. Refs ros-controls#73
340f256
@davetcoleman
Copy link
Member

I don't think it would affect any of my use cases, and it can always be
over written by controller settings.

On Thursday, December 12, 2013, Jim Rothrock wrote:

I say change it now.

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/73#issuecomment-30387806
.

:: dave | 251.463.2345 c

adolfo-rt pushed a commit that referenced this issue Dec 18, 2013
Merge pull request #74 from pal-robotics/stop_traj_duration_default
253df28 
Default stop_trajectory_duration to zero. Refs #73
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@adolfo-rt adolfo-rt

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@davetcoleman @adolfo-rt @jim-rothrock