[jog_arm] Keep updating joints, even while waiting for a valid command #2027
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This prevents a potential jump in joint angles when jogging resumes
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Tried this out with UR5 and it definitely fixed jumping issues when resuming jogging, so it does what it promises. 👍 |
| shared_variables.lock(); | ||
| bool stale_command = shared_variables.command_is_stale; | ||
| shared_variables.unlock(); | ||
| bool valid_nonzero_command = !stale_command && (have_nonzero_cartesian_cmd || have_nonzero_joint_cmd); |
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Nit: There is a lot of behavior that occurs if !stale_command which makes this a little hard to reason about. Maybe put all of that in a single block instead of checking the value of stale_command three times?
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OK, I like that. And it's more efficient too
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See previous comment about optionally cleaning up the behavior if (!stale_command), regarding the pdf... Wouldn't it be better to put this in the moveit_tutorials not in the moveit codebase? I have been trying to consolidate higher level moveit documentation there rather than have it spread across the tutorials, the website and the repos.
Codecov Report
@@ Coverage Diff @@
## master #2027 +/- ##
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- Coverage 54.08% 53.97% -0.11%
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Files 319 319
Lines 24997 24997
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- Hits 13519 13492 -27
- Misses 11478 11505 +27
Continue to review full report at Codecov.
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moveit#2027) * Keep updating joints, even while waiting for a valid command This prevents a potential jump in joint angles when jogging resumes * Simplify some logic, add a flowchart pdf * Delete pdf, clean up !stale_command usage
moveit#2027) * Keep updating joints, even while waiting for a valid command This prevents a potential jump in joint angles when jogging resumes * Simplify some logic, add a flowchart pdf * Delete pdf, clean up !stale_command usage
moveit#2027) * Keep updating joints, even while waiting for a valid command This prevents a potential jump in joint angles when jogging resumes * Simplify some logic, add a flowchart pdf * Delete pdf, clean up !stale_command usage
This prevents a potential jump in joint angles when jogging resumes