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[JTC] When replacing trajectories in open-loop mode use time of the last command when setting point of trajectory before msg. #780

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[JTC] When replacing trajectories in open-loop mode use time of the last command when setting point of trajectory before msg. #780

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9f82548
Reset initial value of last commanded time to 0.
destogl Sep 26, 2023
8fc35dc
Fix stair step in JTC when new trajectory message received
bijoua29 Sep 25, 2023
0a5a98d
Merge branch 'master' into jtc-smoothen-interplation-in-open-loop
christophfroehlich Nov 2, 2024
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1 change: 1 addition & 0 deletions ...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,6 +126,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
Params params_;

trajectory_msgs::msg::JointTrajectoryPoint last_commanded_state_;
rclcpp::Time last_commanded_time_;
/// Specify interpolation method. Default to splines.
interpolation_methods::InterpolationMethod interpolation_method_{
interpolation_methods::DEFAULT_INTERPOLATION};
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8 changes: 7 additions & 1 deletion joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Expand Up @@ -186,8 +186,12 @@ controller_interface::return_type JointTrajectoryController::update(
first_sample = true;
if (params_.open_loop_control)
{
if (last_commanded_time_.seconds() == 0.0)
{
last_commanded_time_ = time;
}
traj_external_point_ptr_->set_point_before_trajectory_msg(
time, last_commanded_state_, joints_angle_wraparound_);
last_commanded_time_, last_commanded_state_, joints_angle_wraparound_);
}
else
{
Expand Down Expand Up @@ -310,6 +314,7 @@ controller_interface::return_type JointTrajectoryController::update(

// store the previous command. Used in open-loop control mode
last_commanded_state_ = state_desired_;
last_commanded_time_ = time;
}

if (active_goal)
Expand Down Expand Up @@ -937,6 +942,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
read_state_from_state_interfaces(state_current_);
read_state_from_state_interfaces(last_commanded_state_);
}
last_commanded_time_ = rclcpp::Time();

// The controller should start by holding position at the beginning of active state
add_new_trajectory_msg(set_hold_position());
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