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<div class="moz-cite-prefix">On 21.03.2014 10:56, Christian Rauch
wrote:<br>
</div>
<blockquote cite="mid:532C0CEA.50801@dfki.de" type="cite">Hi,
<br>
<br>
the TrajectoryFollower::Task is currently writing stop motion
commands (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
actually follows a trajectory. In all of the cases above the
TrajectoryFollower has nothing to follow and should therefore not
generate any commands.
<br>
<br>
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.
<br>
</blockquote>
Did i understand right, that you have multiple input connections to
one task.<br>
this is in general a bad idea, this is supported by orogen, but we
do not recommend this kind of usage for rock-setups.<br>
I would recommend to re-think of your component design. Writing a
zero command if the component is not sure is for me a good design,
to keep the control-loop alive.<br>
<br>
If you need something like this introduce switching-components or
keep only one active component for your motion input.<br>
<br>
Best,<br>
Matthias<br>
<br>
<br>
<blockquote cite="mid:532C0CEA.50801@dfki.de" type="cite">
<br>
Opinions?
<br>
<br>
Regards,
<br>
Christian
<br>
<br>
<br>
<br>
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
--
Matthias Goldhoorn
Unterwasserrobotik
Standort Bremen:
DFKI GmbH
Robotics Innovation Center
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Fax: +49 (0)421 218-64150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:robotik@dfki.de">robotik@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
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