Notify users when no packets are received #322
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…robot Notifies at startup when for some reason connection to the robot has been established, but no packets have been received, yet. Also warns when no new packet has been released for more than 10 ms.
fmauch
changed the title
gavanderhoorn
changed the title
miguelprada
reviewed
Jul 2, 2019
jrgnicho
suggested changes
Jul 2, 2019
| @@ -38,6 +38,7 @@ class ROSController : private hardware_interface::RobotHW, public URRTPacketCons | |||
| ros::Time lastUpdate_; | |||
| controller_manager::ControllerManager controller_; | |||
| bool robot_state_received_; | |||
| ros::Time most_recent_packet_time_; | |||
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I feel that you could reuse the lastUpdate_ member variable
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since lastUpdate_ is updated each time the update function is called and that function is also called, when no new package has been read, it does not quite fit the requirements.
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This MR aims at notifying the user once no packages are received from the robot.
This addresses #227, although it doesn't add a timeout, but introduces feedback to the user instead.