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

[Janosch Machowinski]

On 21.03.2014 13:27, Christian Rauch wrote:
> At run time the network may change. Example: An action is stopped, not 
> writing trajectories any more (respectively writing an empty 
> trajectory) and another action writing raw motion command is started.
>
> The point is, that we are using the corridor servoing where its 
> functionality (map building, planning) is not separated and we do not 
> want to stop the task as we would lose the map then. The planner then 
> sends empty trajectories, even when it is not planning. Therefore the 
> trajectory follower is always active, even without following a 
> trajectory.
>
> I only see two solutions for this: 1) separating the map building from 
> the planning in the corridor servoing or 2) prevent the generation of 
> motion commands in the trajectory follower, when not following 
> trajectories.
1. You can set an apriori map If you need something like this.
1.1 There is already an version in master, where the map building is 
seperated. But it is mostly untested for now.

2. For your usecase just disconnect the trajectory follower from the 
robot controller and you should be fine.
Greetings
     Janosch


-- 
  Dipl. Inf. Janosch Machowinski
  SAR- & Sicherheitsrobotik

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 1
  28359 Bremen, Germany
  
  Zentrale: +49 421 178 45-6611
  
  Besuchsadresse der Nebengeschäftstelle:
  Robert-Hooke-Straße 5
  28359 Bremen, Germany
  
  Tel.:    +49 421 178 45-6614
  Empfang: +49 421 178 45-6600
  Fax:     +49 421 178 45-4150
  E-Mail:  jmachowinski at informatik.uni-bremen.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik