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add max_joint_state_delay param to customize joint_state delay #51

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add max_joint_state_delay param to customize joint_state delay #51

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1 change: 1 addition & 0 deletions play_motion/include/play_motion/play_motion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ namespace play_motion
ControllerList move_joint_groups_;
std::map<std::string, double> joint_states_;
ros::Time last_joint_state_timestamp_;
double max_joint_state_delay_;
ros::Subscriber joint_states_sub_;
ControllerUpdater ctrlr_updater_;
ApproachPlannerPtr approach_planner_;
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10 changes: 6 additions & 4 deletions play_motion/src/play_motion.cpp
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Expand Up @@ -88,7 +88,7 @@ namespace
if (weak_ctrl.expired())
{
ROS_ERROR_STREAM("Got callback on expired MoveJointGroup, ignoring it");
return;
return;
}
MoveJointGroupPtr ctrl = weak_ctrl.lock();
ControllerList::iterator it = std::find(goal_hdl->controllers.begin(),
Expand Down Expand Up @@ -147,6 +147,7 @@ namespace play_motion
ctrlr_updater_.registerUpdateCb(boost::bind(&PlayMotion::updateControllersCb, this, _1, _2));

ros::NodeHandle private_nh("~");
private_nh.param("max_joint_state_delay", max_joint_state_delay_, 0.5);
approach_planner_.reset(new ApproachPlanner(private_nh));
}

Expand Down Expand Up @@ -178,7 +179,7 @@ namespace play_motion
const ControllerUpdater::ControllerJoints& joints)
{
typedef std::pair<std::string, ControllerUpdater::ControllerState> ctrlr_state_pair_t;

ROS_INFO_STREAM("Controllers have changed, cancelling all active goals");
foreach (MoveJointGroupPtr mjg, move_joint_groups_)
{
Expand Down Expand Up @@ -352,9 +353,10 @@ next_joint:;
ControllerList groups = getMotionControllers(motion_joints); // Checks many preconditions
getMotionPoints(motion_name, motion_points);

if ((ros::Time::now() - last_joint_state_timestamp_).toSec() > 0.5)
if ((ros::Time::now() - last_joint_state_timestamp_).toSec() > max_joint_state_delay_)
{
throw PMException("Unable to update the current state of the motion joints! Last joint state is older than 0.5sec!",
throw PMException("Unable to update the current state of the motion joints! Last joint state is older than "
+ std::to_string(max_joint_state_delay_) + "sec!",
PMR::OTHER_ERROR);
}
std::vector<double> curr_pos; // Current position of motion joints
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