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

[Christian Rauch]

The attached patch describes how the follower should behave.
It will enable the trajectory follower only to send motion commands as 
long as it is processing a trajectory.

If you are fine with these changes, I would like to push it to master by 
end of today.

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
>>
>>
>>
>>
>> _______________________________________________
>> Rock-dev mailing list
>> Rock-dev at dfki.de
>> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>
>
>
>
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>

-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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  28359 Bremen, Germany

  Zentrale: +49 421 178 45-6611

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