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Fixes to work on real hardware #216

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merged 4 commits into from
Aug 23, 2017
Merged

Fixes to work on real hardware #216

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43d5716
Fix bug with empty JointStateClient buffer.
brianhou Jun 27, 2017
83a4ec7
Make JointStateClient::spin wait longer.
brianhou Jun 27, 2017
5d21e4f
Revert "Make JointStateClient::spin wait longer."
brianhou Jul 2, 2017
9dd0827
Fix minor typo in RosTrajectoryExecutor.
brianhou Jul 17, 2017
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4 changes: 2 additions & 2 deletions include/aikido/control/ros/RosTrajectoryExecutor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,11 +40,11 @@ class RosTrajectoryExecutor : public aikido::control::TrajectoryExecutor
virtual ~RosTrajectoryExecutor();

/// Sends trajectory to ROS server for execution.
/// \param[in] traj Trajecotry to be executed.
/// \param[in] traj Trajectory to be executed.
std::future<void> execute(trajectory::TrajectoryPtr traj) override;

/// Sends trajectory to ROS server for execution.
/// \param[in] traj Trajectrory to be executed.
/// \param[in] traj Trajectory to be executed.
/// \param[in] startTime Start time for the trajectory.
std::future<void> execute(
trajectory::TrajectoryPtr traj, const ::ros::Time& startTime);
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2 changes: 1 addition & 1 deletion src/control/ros/RosJointStateClient.cpp
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Expand Up @@ -94,7 +94,7 @@ void RosJointStateClient::jointStateCallback(
boost::circular_buffer<JointStateRecord>{mCapacity});
auto& buffer = result.first->second;

if (_jointState.header.stamp < buffer.back().mStamp)
if (!buffer.empty() && _jointState.header.stamp < buffer.back().mStamp)
{
// Ignore out of order JointState message.
ROS_WARN_STREAM(
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