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

[Janosch Machowinski]

I am not fine with it at all....
Writing an empty trajectory is an implicit way to stop the robot.
Especially the CorridorServoing depends on this.
Greetings
     Janosch

On 21.03.2014 13:52, Christian Rauch wrote:
> 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
>>>
>>>
>>>
>>>
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>>
>>
>>
>>
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>
>
>
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-- 
  Dipl. Inf. Janosch Machowinski
  SAR- & Sicherheitsrobotik

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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