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Cancel in-progress trajectories. #400

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merged 11 commits into from
Aug 4, 2018
Merged

Cancel in-progress trajectories. #400

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df30f1c
Cancel actionlib goal.
brianhou May 7, 2018
bba5d44
Merge branch 'master' into enhancement/brianhou/ros-traj-abort
jslee02 May 8, 2018
4ff1bf4
Merge branch 'master' into enhancement/brianhou/ros-traj-abort
brianhou May 9, 2018
d18d869
Merge branch 'master' into enhancement/brianhou/ros-traj-abort
brianhou May 12, 2018
2ff827e
Merge branch 'master' into enhancement/brianhou/ros-traj-abort
jslee02 May 15, 2018
0805f10
Merge branch 'master' into enhancement/brianhou/ros-traj-abort
gilwoolee Jul 2, 2018
8b5e378
Merge branch 'master' into enhancement/brianhou/ros-traj-abort
brianhou Aug 2, 2018
28a7221
Rename abort to cancel to match actionlib.
brianhou Aug 2, 2018
1d1b281
Add warning when no trajectory is in progress.
brianhou Aug 2, 2018
2b43da7
Update CHANGELOG.md.
brianhou Aug 2, 2018
9e360d2
Address PR comments.
brianhou Aug 3, 2018
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6 changes: 5 additions & 1 deletion src/control/ros/RosTrajectoryExecutor.cpp
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Expand Up @@ -234,7 +234,11 @@ void RosTrajectoryExecutor::step(
//==============================================================================
void RosTrajectoryExecutor::abort()
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I'd prefer "cancel" instead of "abort". It seems like "cancel" and "abort" are different terms in ros_control; "cancel" is where the client requested to cancel the trajectory, and "abort" is where the server had to stop it for some other reason (e.g. force threshold has been violated).

http://wiki.ros.org/actionlib/DetailedDescription

{
// TODO: cancel the actionlib goal (once there is support in ReWD controller)
std::lock_guard<std::mutex> lock(mMutex);
DART_UNUSED(lock); // Suppress unused variable warning.

if (mInProgress)
mGoalHandle.cancel();
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Would it be useful to print a warning something like "Attempting to abort trajectory execution but no trajectory in progress."?

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That sounds like a good idea. We should do this to the other TrajectoryExecutor::abort implementations as well.

}

} // namespace ros
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