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

[Christian Rauch]

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


-- 
  Christian Rauch
  Space Robotics

  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 45-6619
  Empfang: +49 421 178 45-6600
  Fax:     +49 421 178 45-4150
  E-Mail:  Christian.Rauch at dfki.de

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


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