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<div class="moz-cite-prefix">I am not fine with it at all....<br>
Writing an empty trajectory is an implicit way to stop the robot.<br>
Especially the CorridorServoing depends on this.<br>
Greetings<br>
Janosch<br>
<br>
On 21.03.2014 13:52, Christian Rauch wrote:<br>
</div>
<blockquote cite="mid:532C35FB.1050405@dfki.de" type="cite">The
attached patch describes how the follower should behave.
<br>
It will enable the trajectory follower only to send motion
commands as long as it is processing a trajectory.
<br>
<br>
If you are fine with these changes, I would like to push it to
master by end of today.
<br>
<br>
Regards,
<br>
Christian
<br>
<br>
<br>
Am 21.03.2014 13:06, schrieb Janosch Machowinski:
<br>
<blockquote type="cite">I like my robot to stop if it reaches the
end of the trajectory.
<br>
For the case of no pose and no trajectory,
<br>
we could drop the 0,0 command
<br>
Greetings
<br>
Janosch
<br>
<br>
On 21.03.2014 10:56, Christian Rauch wrote:
<br>
<blockquote type="cite">Hi,
<br>
<br>
the TrajectoryFollower::Task is currently writing stop motion
commands
<br>
(0,0) if:
<br>
- there is no pose
<br>
- there is no trajectory set
<br>
- it reached the end of the trajectory
<br>
<br>
I would like to have the task only sending motion commands
when it
<br>
actually follows a trajectory. In all of the cases above the
<br>
TrajectoryFollower has nothing to follow and should therefore
not
<br>
generate any commands.
<br>
<br>
The reason is that the TrajectoryFollower blocks other tasks
from
<br>
writing motion commands to the driver, even if it does not has
<br>
anything to do.
<br>
<br>
Opinions?
<br>
<br>
Regards,
<br>
Christian
<br>
<br>
<br>
<br>
<br>
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</blockquote>
<br>
<br>
<br>
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<pre class="moz-signature" cols="72">--
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: <a class="moz-txt-link-abbreviated" href="mailto:jmachowinski@informatik.uni-bremen.de">jmachowinski@informatik.uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a>
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