add read_only parameters to diff_drive_controller #1781
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bijoua29,
bmagyar,
erickisos,
mhubii,
olivier-stasse,
rosterloh and
saikishor
| } | ||
| open_loop: { | ||
| type: bool, | ||
| default_value: false, | ||
| description: "If set to true the odometry of the robot will be calculated from the commanded values and not from feedback.", | ||
| read_only: false, |
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Do we want this to be false?. Does it make sense to change this online?
| } | ||
| position_feedback: { | ||
| type: bool, | ||
| default_value: true, | ||
| description: "Is there position feedback from hardware.", | ||
| read_only: false, |
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| read_only: false, | |
| read_only: true, |
| } | ||
| publish_rate: { | ||
| type: double, | ||
| default_value: 50.0, # Hz | ||
| description: "Publishing rate (Hz) of the odometry and TF messages.", | ||
| read_only: false, |
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| read_only: false, | |
| read_only: true, |
This should be constant too
| } | ||
| publish_rate: { | ||
| type: double, | ||
| default_value: 50.0, # Hz | ||
| description: "Publishing rate (Hz) of the odometry and TF messages.", | ||
| read_only: false, |
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| read_only: false, | |
| read_only: true, |
This should be constant too
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The parameters itself look good. But we don't update the parameters post on_configure. I propose changing this to a simple get_params() as on_configure is not in the RT thread
ros2_controllers/diff_drive_controller/src/diff_drive_controller.cpp
Lines 313 to 317 in 922e49b
but add this
try_update_params to the update_reference_from_subscribers or update_and_write_commands method.
Please review then also if we need local copies of the params_-struct members and either remove it or update them after try_update_params. (cmd_vel_timeout_, publish_limited_velocity_,..)
This PR adds the read_only attribute to key parameters of diff_drive_controller.Related to #1696