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[JTC] Add console output for tolerance checks (backport #932) #938

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merged 3 commits into from
Jan 8, 2024
Merged

[JTC] Add console output for tolerance checks (backport #932) #938

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915c3cb
[JTC] Add console output for tolerance checks (#932)
christophfroehlich Dec 21, 2023
add2836
fix typo
bmagyar Dec 21, 2023
2690e42
Merge branch 'humble' into mergify/bp/humble/pr-932
bmagyar Jan 8, 2024
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2 changes: 1 addition & 1 deletion joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ inline bool check_state_tolerance_per_joint(
if (show_errors)
{
const auto logger = rclcpp::get_logger("tolerances");
RCLCPP_ERROR(logger, "Path state tolerances failed:");
RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);

if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
{
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17 changes: 11 additions & 6 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -253,20 +253,21 @@ controller_interface::return_type JointTrajectoryController::update(

// Always check the state tolerance on the first sample in case the first sample
// is the last point
// print output per default, goal will be aborted afterwards
if (
(before_last_point || first_sample) &&
(before_last_point || first_sample) && *(rt_is_holding_.readFromRT()) == false &&
!check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.state_tolerance[index], false) &&
*(rt_is_holding_.readFromRT()) == false)
state_error_, index, default_tolerances_.state_tolerance[index],
true /* show_errors */))
{
tolerance_violated_while_moving = true;
}
// past the final point, check that we end up inside goal tolerance
if (
!before_last_point &&
!before_last_point && *(rt_is_holding_.readFromRT()) == false &&
!check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.goal_state_tolerance[index], false) &&
*(rt_is_holding_.readFromRT()) == false)
state_error_, index, default_tolerances_.goal_state_tolerance[index],
false /* show_errors */))
{
outside_goal_tolerance = true;

Expand All @@ -275,6 +276,10 @@ controller_interface::return_type JointTrajectoryController::update(
if (time_difference > default_tolerances_.goal_time_tolerance)
{
within_goal_time = false;
// print once, goal will be aborted afterwards
check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.goal_state_tolerance[index],
true /* show_errors */);
}
}
}
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