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JointGroupVelocityController: stop motion if no commands received #625

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JointGroupVelocityController: stop motion if no commands received #625

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14 changes: 12 additions & 2 deletions velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,17 @@ namespace velocity_controllers
* Subscribes to:
* - \b command (std_msgs::Float64MultiArray) : The joint velocities to apply
*/
typedef forward_command_controller::ForwardJointGroupCommandController<hardware_interface::VelocityJointInterface>
JointGroupVelocityController;
class JointGroupVelocityController : public forward_command_controller::ForwardJointGroupCommandController<hardware_interface::VelocityJointInterface>
{
using BaseClass = forward_command_controller::ForwardJointGroupCommandController<hardware_interface::VelocityJointInterface>;
bool received_;
ros::WallTimer watchdog_;
ros::Subscriber sub_command_;
void commandCB(const std_msgs::Float64MultiArrayConstPtr&);
void watchDogCB(const ros::WallTimerEvent& event);

public:
bool init(hardware_interface::VelocityJointInterface* hw, ros::NodeHandle &nh) override;
};

}
30 changes: 30 additions & 0 deletions velocity_controllers/src/joint_group_velocity_controller.cpp
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Expand Up @@ -45,5 +45,35 @@ void forward_command_controller::ForwardJointGroupCommandController<T>::starting
commands_buffer_.readFromRT()->assign(n_joints_, 0.0);
}

namespace velocity_controllers
{
bool JointGroupVelocityController::init(hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &nh) {
if (!BaseClass::init(hw, nh))
return false;

double timeout;
if (!nh.param("watchdog_timeout", timeout, 1.0))
ROS_WARN_STREAM("No watchdog_timeout parameter, defaulting to " << timeout);
watchdog_ = nh.createWallTimer(ros::WallDuration(timeout), &JointGroupVelocityController::watchDogCB, this, false, false);
sub_command_ = nh.subscribe<std_msgs::Float64MultiArray>("command", 1, &JointGroupVelocityController::commandCB, this);
return true;
}
void JointGroupVelocityController::commandCB(const std_msgs::Float64MultiArrayConstPtr&) {
received_ = true;
watchdog_.start(); // (re)start watchdog timer
}
void JointGroupVelocityController::watchDogCB(const ros::WallTimerEvent&) {
if (!isRunning()) {
watchdog_.stop();
}
else if (!received_) {
ROS_WARN("Didn't receive new velocity commands: stopping motion");
std::vector<double> zeros(n_joints_, 0.0);
commands_buffer_.writeFromNonRT(zeros);
watchdog_.stop(); // wait for message before starting again
}
received_ = false;
}
}

PLUGINLIB_EXPORT_CLASS(velocity_controllers::JointGroupVelocityController,controller_interface::ControllerBase)