Add trajectory pausable behaviour #7
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MikeWrock
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MikeWrock
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bgill92
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May 5, 2025
| goal.goal_time_tolerance = rclcpp::Duration::from_seconds(time_tolerance); | ||
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| // Send goal with feedback callback | ||
| typename rclcpp_action::Client<FollowJointTrajectory>::SendGoalOptions options; |
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Why is this typename? That shouldn't be needed.
| } | ||
| catch (const rclcpp_action::exceptions::UnknownGoalHandleError& e) | ||
| { | ||
| RCLCPP_WARN(rclcpp::get_logger("ExecuteAndTrackJointTrajectory"), "Failed to cancel goal: %s", e.what()); |
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This should probably be an error if we can't pause the joint trajectory?
| const std::shared_ptr<const FollowJointTrajectory::Feedback> feedback) | ||
| { | ||
| last_feedback_time_ = feedback->desired.time_from_start.sec + feedback->desired.time_from_start.nanosec * 1e-9; | ||
| setOutput<double>("time_from_start", last_feedback_time_); |
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Do we have to set time_from_start every time the feedback is processed or only when the trajectory is paused?
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| for (; start_index < full_trajectory_.points.size(); ++start_index) | ||
| { | ||
| double t = full_trajectory_.points[start_index].time_from_start.sec + | ||
| full_trajectory_.points[start_index].time_from_start.nanosec * 1e-9; | ||
| if (t >= last_feedback_time_) | ||
| break; | ||
| } | ||
| if (start_index >= full_trajectory_.points.size()) | ||
| return new_traj; | ||
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| double offset = full_trajectory_.points[start_index].time_from_start.sec + | ||
| full_trajectory_.points[start_index].time_from_start.nanosec * 1e-9; | ||
| for (size_t i = start_index; i < full_trajectory_.points.size(); ++i) | ||
| { | ||
| auto pt = full_trajectory_.points[i]; | ||
| double orig = pt.time_from_start.sec + pt.time_from_start.nanosec * 1e-9; | ||
| double adjusted = orig - offset; | ||
| pt.time_from_start.sec = static_cast<uint32_t>(adjusted); | ||
| pt.time_from_start.nanosec = static_cast<uint32_t>((adjusted - pt.time_from_start.sec) * 1e9); | ||
| new_traj.points.push_back(pt); | ||
| } |
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Some additional here would make this could easier to grok.
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Can we get this month old PR merged in? |
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Use this objective to test in lab_sim:
And call
ros2 service call /pause_trajectory std_srvs/srv/Triggerduring playback (see video)screencap-2025-05-05_07.12.04.mp4