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Store trajectory segment being executed and store in feedback message #605

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Store trajectory segment being executed and store in feedback message #605

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5 changes: 5 additions & 0 deletions ...t_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -223,6 +223,11 @@ class JointTrajectoryController : public controller_interface::Controller<Hardwa
ActionServerPtr action_server_;
ros::ServiceServer query_state_service_;
StatePublisherPtr state_publisher_;
/**
* @brief Indices of trajectory that is currently being executed
* @details These should usually (always?) be all the same
*/
std::vector<Scalar> trajectory_indices_;

ros::Timer goal_handle_timer_;
ros::Time last_state_publish_time_;
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8 changes: 7 additions & 1 deletion ...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -254,6 +254,7 @@ bool JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInt
// Initialize members
joints_.resize(n_joints);
angle_wraparound_.resize(n_joints);
trajectory_indices_ = std::vector<Scalar>(n_joints, -1);
for (unsigned int i = 0; i < n_joints; ++i)
{
// Joint handle
Expand Down Expand Up @@ -382,6 +383,9 @@ update(const ros::Time& time, const ros::Duration& period)
return;
}

// Record the index of the segment we are currently in
trajectory_indices_[i] = segment_it - curr_traj[i].begin();

// Get state error for current joint
state_joint_error_.position[0] = state_error_.position[i];
state_joint_error_.velocity[0] = state_error_.velocity[i];
Expand Down Expand Up @@ -614,6 +618,8 @@ goalCB(GoalHandle gh)

if (update_ok)
{
trajectory_indices_ = std::vector<double>(joint_names_.size(), -1);

// Accept new goal
preemptActiveGoal();
gh.setAccepted();
Expand Down Expand Up @@ -814,8 +820,8 @@ setActionFeedback()
current_active_goal->preallocated_feedback_->error.positions = state_error_.position;
current_active_goal->preallocated_feedback_->error.velocities = state_error_.velocity;
current_active_goal->preallocated_feedback_->error.time_from_start = ros::Duration(state_error_.time_from_start);
current_active_goal->preallocated_feedback_->indices = trajector_indices_;
current_active_goal->setFeedback( current_active_goal->preallocated_feedback_ );

}

template <class SegmentImpl, class HardwareInterface>
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