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Update robot state if time since last command exceeds timeout #3251

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Update robot state if time since last command exceeds timeout #3251

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Update robot state if time since last command exceeds timeout
KazuyaOguma18 Jan 20, 2025
ee1fb9d
Merge branch 'main' of https://github.com/TohokuQuix/moveit2
KazuyaOguma18 Jan 20, 2025
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1 change: 1 addition & 0 deletions moveit_ros/moveit_servo/include/moveit_servo/servo_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,7 @@ class ServoNode
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;

KinematicState last_commanded_state_; // Used when commands go stale;
rclcpp::Time last_commanded_time_;
control_msgs::msg::JointJog latest_joint_jog_;
geometry_msgs::msg::TwistStamped latest_twist_;
geometry_msgs::msg::PoseStamped latest_pose_;
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6 changes: 6 additions & 0 deletions moveit_ros/moveit_servo/src/servo_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -330,6 +330,11 @@ void ServoNode::servoLoop()
const bool use_trajectory = servo_params_.command_out_type == "trajectory_msgs/JointTrajectory";
const auto cur_time = node_->now();

if(cur_time.get_clock_type() == last_commanded_time_.get_clock_type() &&
cur_time - last_commanded_time_ > rclcpp::Duration::from_seconds(servo_params_.incoming_command_timeout)){
current_state = servo_->getCurrentRobotState(true /* block for current robot state */);
}

if (use_trajectory && !joint_cmd_rolling_window_.empty() && joint_cmd_rolling_window_.back().time_stamp > cur_time)
{
current_state = joint_cmd_rolling_window_.back();
Expand Down Expand Up @@ -385,6 +390,7 @@ void ServoNode::servoLoop()
multi_array_publisher_->publish(composeMultiArrayMessage(servo_->getParams(), next_joint_state.value()));
}
last_commanded_state_ = next_joint_state.value();
last_commanded_time_ = node_->now();
}
else
{
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