[Rock-dev] TrajectoryFollower writing stop commands for no trajectory

[Matthias Goldhoorn]

On 21.03.2014 10:56, Christian Rauch wrote:
> Hi,
>
> the TrajectoryFollower::Task is currently writing stop motion commands 
> (0,0) if:
> - there is no pose
> - there is no trajectory set
> - it reached the end of the trajectory
>
> I would like to have the task only sending motion commands when it 
> actually follows a trajectory. In all of the cases above the 
> TrajectoryFollower has nothing to follow and should therefore not 
> generate any commands.
>
> The reason is that the TrajectoryFollower blocks other tasks from 
> writing motion commands to the driver, even if it does not has 
> anything to do.
Did i understand right, that you have multiple input connections to one 
task.
this is in general a bad idea, this is supported by orogen, but we do 
not recommend this kind of usage for rock-setups.
I would recommend to re-think of your component design. Writing a zero 
command if the component is not sure is for me a good design, to keep 
the control-loop alive.

If you need something like this introduce switching-components or keep 
only one active component for your motion input.

Best,
Matthias


>
> Opinions?
>
> Regards,
> Christian
>
>
>
>
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