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Fix threading issue for collision velocity scaling in MoveIt Servo #2517

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merged 3 commits into from Nov 9, 2023
Merged

Fix threading issue for collision velocity scaling in MoveIt Servo #2517

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0d7a0da
Use local variable for collision velocity scaling
Nov 8, 2023
f385fa6
Update comment to make it real obvious
Nov 9, 2023
4518c96
Be rid of the local variable!
Nov 9, 2023
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14 changes: 11 additions & 3 deletions moveit_ros/moveit_servo/src/collision_monitor.cpp
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Expand Up @@ -95,9 +95,6 @@ void CollisionMonitor::checkCollisions()
const double self_velocity_scale_coefficient{ log_val / servo_params_.self_collision_proximity_threshold };
const double scene_velocity_scale_coefficient{ log_val / servo_params_.scene_collision_proximity_threshold };

// Reset the scale on every iteration.
collision_velocity_scale_ = 1.0;

if (servo_params_.check_collisions)
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{
// Fetch latest robot state.
Expand All @@ -123,6 +120,11 @@ void CollisionMonitor::checkCollisions()
// k = - ln(0.001) / collision_proximity_threshold
// velocity_scale should equal one when collision_distance is at collision_proximity_threshold.
// velocity_scale should equal 0.001 when collision_distance is at zero.
//
// NOTE:
// collision_velocity_scale_ is shared by the primary servo thread. Be sure to not set any
// intermediate values in this loop or they can be picked up and throw off scaling while processing
// joint updates.

if (self_collision_result_.collision || scene_collision_result_.collision)
{
Expand Down Expand Up @@ -154,6 +156,12 @@ void CollisionMonitor::checkCollisions()
collision_velocity_scale_ = std::min(scene_collision_scale, self_collision_scale);
}
}
else
{
// If collision checking is disabled we do not scale
collision_velocity_scale_ = 1.0;
}

rate.sleep();
}
}
Expand Down