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Add option to wait convergence of joint trajectory angle and velocity #122

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Mar 28, 2024
Merged

Add option to wait convergence of joint trajectory angle and velocity #122

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7 changes: 6 additions & 1 deletion src/ypspur_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,7 @@ class YpspurRosNode
std::map<std::string, double> params_;
int key_;
bool simulate_;
bool wait_convergence_of_joint_trajectory_angle_vel_;

double tf_time_offset_;

Expand Down Expand Up @@ -451,6 +452,8 @@ class YpspurRosNode
ROS_WARN("simulate_control parameter is deprecated. Use simulate parameter instead");
simulate_ = true;
}
pnh_.param(
"wait_convergence_of_joint_trajectory_angle_vel", wait_convergence_of_joint_trajectory_angle_vel_, true);
pnh_.param("ypspur_bin", ypspur_bin_, std::string("ypspur-coordinator"));
pnh_.param("param_file", param_file_, std::string(""));
pnh_.param("tf_time_offset", tf_time_offset_, 0.0);
Expand Down Expand Up @@ -1099,7 +1102,8 @@ class YpspurRosNode

if (done)
{
if ((joints_[jid].vel_end_ > 0.0 &&
if (!wait_convergence_of_joint_trajectory_angle_vel_ ||
(joints_[jid].vel_end_ > 0.0 &&
joints_[jid].angle_ref_ > joint.position[jid] &&
joints_[jid].angle_ref_ < joint.position[jid] + joints_[jid].vel_ref_ * dt) ||
(joints_[jid].vel_end_ < 0.0 &&
Expand All @@ -1108,6 +1112,7 @@ class YpspurRosNode
{
joints_[jid].control_ = JointParams::VELOCITY;
joints_[jid].vel_ref_ = joints_[jid].vel_end_;
YP::YP_joint_vel(joints_[jid].id_, joints_[jid].vel_ref_);
}
}
}
Expand Down
26 changes: 26 additions & 0 deletions test/src/joint_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,32 @@ TEST(JointTrajectory, CommandValidation)
}
ASSERT_NEAR(joint_states->velocity[0], 0.0, 0.1)
<< "Outdated joint_trajectory must be ignored";

// Publish overshoot command
cmd.header.stamp = ros::Time::now();
cmd.joint_names.resize(1);
cmd.joint_names[0] = "joint0";
cmd.points.resize(1);
cmd.points[0].time_from_start = ros::Duration(1);
cmd.points[0].positions.resize(1);
cmd.points[0].positions[0] = 1.0;
cmd.points[0].velocities.resize(1);
cmd.points[0].velocities[0] = 4.0;
pub_cmd.publish(cmd);
wait.sleep();

for (int i = 0; i < 50; ++i)
{
wait.sleep();
ros::spinOnce();
}

ASSERT_TRUE(static_cast<bool>(joint_states));
ASSERT_EQ(joint_states->name.size(), 1u);
ASSERT_EQ(joint_states->name[0], "joint0");
ASSERT_EQ(joint_states->velocity.size(), 1u);
ASSERT_NEAR(joint_states->velocity[0], 4.0, 0.1)
<< "Joint velocity should be near the target value";
}

int main(int argc, char** argv)
Expand Down
1 change: 1 addition & 0 deletions test/test/joint_trajectory.test
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Expand Up @@ -8,5 +8,6 @@
<param name="param_file" value="$(find ypspur_ros)/test/config/test.param" />
<param name="joint0_enable" value="true" />
<param name="hz" value="20.0" />
<param name="wait_convergence_of_joint_trajectory_angle_vel" value="false" />
</node>
</launch>
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