Feature/filter #165
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Feature/filter #165
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fmessmer
requested changes
Sep 6, 2017
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see TravisCI:
Errors << cob_frame_tracker:make /root/catkin_ws/logs/cob_frame_tracker/build.make.000.log
/root/catkin_ws/src/cob_control/cob_frame_tracker/src/cob_frame_tracker.cpp: In member function ‘void CobFrameTracker::publishTwist(ros::Duration, bool)’:
/root/catkin_ws/src/cob_control/cob_frame_tracker/src/cob_frame_tracker.cpp:281:13: error: ‘his’ was not declared in this scope
his->publishHoldTwist(period);
^
make[2]: *** [CMakeFiles/cob_frame_tracker.dir/src/cob_frame_tracker.cpp.o] Error 1
make[1]: *** [CMakeFiles/cob_frame_tracker.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
fmessmer
reviewed
Sep 8, 2017
| @@ -141,7 +141,7 @@ bool CobFrameTracker::initialize() | |||
| lookat_focus_frame_ = "lookat_focus_frame"; | |||
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| // ABORTION CRITERIA: | |||
| enable_abortion_checking_ = true; | |||
| enable_abortion_checking_ = false; | |||
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leave the default value to true...as it safer...
this parameter is configurable via parameter yaml and dynamic_reconfigure anyway
| if ((fabs(error_msg.twist.linear.x) <= 0.005) && (fabs(error_msg.twist.linear.y) <= 0.005) && (fabs(error_msg.twist.linear.z) <= 0.005)) | ||
| { | ||
| this->publishHoldTwist(period); | ||
| ROS_INFO_STREAM("PUBLISHING ZERO SPEED..."); |
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undo these changes....
there is a better way to do this, i.e. use checkCartDistanceViolation() with according parameter
Maybe this criteria is not correctly implemented yet as documented in https://github.com/ipa320/cob_control/issues/75. Thus we should investigate and fix it there in the function
fmessmer
requested changes
Sep 8, 2017
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Added a filter for minimal task space velocity of the excavator