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Add option to stop control on system time jump #125

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merged 3 commits into from
Apr 2, 2024
Merged

Add option to stop control on system time jump #125

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e637a3b
Add option to stop control on system time jump
at-wat Mar 28, 2024
374fcf5
Update ypspur version constraint
at-wat Apr 2, 2024
9466b9a
Reduce variable scope
at-wat Apr 2, 2024
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2 changes: 1 addition & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,5 +27,5 @@
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>trajectory_msgs</depend>
<depend version_gte="1.21.0">ypspur</depend>
<depend version_gte="1.22.0">ypspur</depend>
</package>
4 changes: 4 additions & 0 deletions src/ypspur_ros.cpp
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Expand Up @@ -98,6 +98,7 @@ class YpspurRosNode
int key_;
bool simulate_;
bool wait_convergence_of_joint_trajectory_angle_vel_;
bool exit_on_time_jump_;
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This can be function local variable


double tf_time_offset_;

Expand Down Expand Up @@ -454,6 +455,7 @@ class YpspurRosNode
}
pnh_.param(
"wait_convergence_of_joint_trajectory_angle_vel", wait_convergence_of_joint_trajectory_angle_vel_, true);
pnh_.param("exit_on_time_jump", exit_on_time_jump_, false);
pnh_.param("ypspur_bin", ypspur_bin_, std::string("ypspur-coordinator"));
pnh_.param("param_file", param_file_, std::string(""));
pnh_.param("tf_time_offset", tf_time_offset_, 0.0);
Expand Down Expand Up @@ -659,6 +661,8 @@ class YpspurRosNode
args.push_back(std::string("--enable-get-digital-io"));
if (simulate_)
args.push_back(std::string("--without-device"));
if (exit_on_time_jump_)
args.push_back(std::string("--exit-on-time-jump"));
if (param_file_.size() > 0)
{
args.push_back(std::string("-p"));
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