Allow wait time to be specified for getCurrentState() #685
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| ROS_INFO_STREAM("More than " << elapsed.toSec() << " seconds has passed to update robot state (joint angles)." | ||
| << "(longer than the allowed " << wait_time << " seconds)." | ||
| << " Synchronize the clocks between systems and check the connection if your are " | ||
| "running ros across multiple machines."); |
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Suggestion: rearrange this a bit. Perhaps something like:
If you are running ROS across multiple machines, check their connections and make sure time is properly synchronized on all of them
Right now it reads a bit like "synchronize the clocks" is something that is always needed, which could potentially confuse users that are not using multiple machines ("clocks? Which clocks?").
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+1 For merging |
JafarAbdi
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Mar 24, 2022
Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
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Improve user feedback - if using MoveIt! on two separate computers the clock can get out of sync and
getCurrentState()will report no joint values when in reality it is getting joint values, the time difference is just greater than the default 1. This is common when a realtime robot PC is disconnected from the internet for weeks/months.Allow the MoveGroupInterface
getCurrentState()to specify a wait period greater than the default 1 second, so that if you do have the above problem you can quickly debug it / override it by allow timestamps that are greater.This would have saved @liuxin00738 many frustrated hours debugging MoveIt!, he and I prepared this change together and tested it on hardware.