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[JTC] Deprecate start_with_holding (backport #1076) #1086

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[JTC] Deprecate start_with_holding (backport #1076) #1086

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16 changes: 16 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1002,8 +1002,24 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
read_state_from_state_interfaces(last_commanded_state_);
}

<<<<<<< HEAD
// The controller should start by holding position at the beginning of active state
add_new_trajectory_msg(set_hold_position());
=======
// Should the controller start by holding position at the beginning of active state?
if (params_.start_with_holding)
{
add_new_trajectory_msg(set_hold_position());
}
else
{
RCLCPP_WARN(
get_node()->get_logger(),
"Parameter \"start_with_holding\" is deprecated. "
"It will be removed in a future release and start with holding position will be the default "
"behavior.");
}
>>>>>>> ea66755 (Deprecate start with holding (#1076))
rt_is_holding_.writeFromNonRT(true);

// parse timeout parameter
Expand Down
8 changes: 8 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,14 @@ joint_trajectory_controller:
one_of<>: [["splines", "none"]],
}
}
<<<<<<< HEAD
=======
start_with_holding: {
type: bool,
default_value: true,
description: "(Deprecated) If true, start with holding position after activation. Otherwise, no command will be sent until the first trajectory is received.",
}
>>>>>>> ea66755 (Deprecate start with holding (#1076))
allow_nonzero_velocity_at_trajectory_end: {
type: bool,
default_value: true,
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