TrajectoryMonitor: zero sampling frequency disables recording #1542
Conversation
moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp
Outdated
Show resolved
Hide resolved
rhaschke
force-pushed
the
disable-traj-monitor
branch
from
3f100fb
to
41d2bef
Compare
There was a problem hiding this comment.
I've just tested this using the rqt reconfigure plugin:
I need to set the limit to zero in https://github.com/ros-planning/moveit/blob/bc45aecc465daff77efe2b6c4f92f7c972925bbe/moveit_ros/planning/plan_execution/cfg/PlanExecutionDynamicReconfigure.cfg#L7
And then then disabling only works after the first request:
https://github.com/ros-planning/moveit/blob/bc45aecc465daff77efe2b6c4f92f7c972925bbe/moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h#L116-L117
Setting the frequency to zero before path was executed silently ignores this frequency...
As the TrajectoryMonitor may be initialized after the reconfigure callback, we need to initialize the sampling frequency with the current value from parameter server.
rhaschke
force-pushed
the
disable-traj-monitor
branch
from
df47ba7
to
108c97b
Compare
|
Thanks a lot, @jschleicher, for carefully testing this and revealing those issues. This change looked so simple, but the devil is in the details (as usual). |
Implements #1538 (comment).
@v4hn, should we disable the monitoring by default in
PlanExecution?