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

[Christian Rauch]

It would be ok to send the 0,0 command once the end is reached but not 
if I give and empty trajectory. An empty trajectory is no trajectory and 
there is nothing to do then. Currently when there is no trajectory 
given, the 0,0 command is generated (see lib).

Regards,
Christian


Am 21.03.2014 13:06, schrieb Janosch Machowinski:
> I like my robot to stop if it reaches the end of the trajectory.
> For the case of no pose and no trajectory,
> we could drop the 0,0 command
> Greetings
>       Janosch
>
> 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.
>>
>> Opinions?
>>
>> Regards,
>> Christian
>>
>>
>>
>>
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>
>
>
>
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-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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