Fix SJTC from immediately returning success (#697) #710
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| @@ -262,6 +267,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const | |||
| result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED); | |||
| active_goal->setAborted(result); | |||
| rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr()); | |||
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Would we need to also set traj_point_active_ptr_ = nullptr; at this line, since we reset the goal pointer here?
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yes i thought about that too, but i did not see it in the original too when return error code goal_tolerance_violated.
this could be an error on the original or not needed or potentially breaking if inserted.
Furthermore it set's the nullptr on_cleanup and on_reset methods which i think are inhereted into the SJTC
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Thank you for providing this. Me or @RobertWilbrandt will have to look into this more deeply. |
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I think this should be solved by #811 |
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Thank you @schornakj for bringing that up. Since we've updated the SJTC with the newest version from upstream's JTC this fix is included now (At the time of writing pending for Humble). I'm going to close this therefore. |
I applied the fix (for humble) which was done at the ros2_controllers repo ros-controls/ros2_controllers#565 at the commit 2f546066827cf90020d6040c180ae564407b9bae
This pr refers to your newly opened issue #697
I hope it is merged : ) cheers