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Notify users when no packets are received #322

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Notify users when no packets are received #322

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f62670b
Added notifications when no new messages have been received from the …
fmauch Jul 2, 2019
93824b2
use a const value to set the packet warn duration
fmauch Jul 3, 2019
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5 changes: 5 additions & 0 deletions include/ur_modern_driver/ros/controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,13 +31,18 @@
#include "ur_modern_driver/ur/consumer.h"
#include "ur_modern_driver/ur/rt_state.h"

// If no packet is received for this time, a warning is issued to the user
// CB2 and 3 cycle times are 0.008, adding some margin
static const double PACKET_RECEIVE_WARN_TIME = 0.01;

class ROSController : private hardware_interface::RobotHW, public URRTPacketConsumer, public Service
{
private:
ros::NodeHandle nh_;
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.


// state interfaces
JointInterface joint_interface_;
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9 changes: 9 additions & 0 deletions src/ros/controller.cpp
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Expand Up @@ -101,18 +101,27 @@ void ROSController::read(RTShared& packet)
joint_interface_.update(packet);
wrench_interface_.update(packet);
robot_state_received_ = true;
most_recent_packet_time_ = ros::Time::now();
}

bool ROSController::update()
{
// don't run controllers if we haven't received robot state yet
if (!robot_state_received_)
{
ROS_INFO_THROTTLE(1.0, "No messages received from the robot so far.");
return true;
}

auto time = ros::Time::now();
auto diff = time - lastUpdate_;
lastUpdate_ = time;

if ((time - most_recent_packet_time_).toSec() > PACKET_RECEIVE_WARN_TIME)
{
ROS_WARN_THROTTLE(1.0, "No new packets received from robot. Connection is probably lost");
}

controller_.update(time, diff, !service_enabled_);

// emergency stop and such should not kill the pipeline
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