Add dynamic reconfigure #6
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Only supports the following parameters: * wheel_separation_multiplier * left_wheel_radius_multiplier * right_wheel_radius_multiplier * k_l * k_r This implementation is NOT real-time safe!
efernandez
force-pushed
the
dynamic_reconfigure
branch
from
c3255cd to
f45ed8d
Compare
| @@ -298,6 +314,27 @@ namespace diff_drive_controller | |||
|
|
|||
| void DiffDriveController::update(const ros::Time& time, const ros::Duration& period) | |||
| { | |||
| // UPDATE DYNAMIC PARAMS | |||
| // Retreive dynamic params: | |||
| DynamicParams dynamic_params = *(dynamic_params_.readFromRT()); | |||
There was a problem hiding this comment.
This is going to update all these parameters on control cycle, which seems like a lot. Would it be safe to use a boolean flag across threads to notify of update?
There was a problem hiding this comment.
The problem is that there's not write from RT methods supported: see this proposal.
I could add a comment with that link, and we can go back to this discussion when this goes upstream; this is fast enough anyway. What do you think?
There was a problem hiding this comment.
Comment added. Merging...
|
LGTM, as per prior discussion |
efernandez
force-pushed
the
dynamic_reconfigure
branch
2 times, most recently
from
8595a5d to
03fabb0
Compare
efernandez
force-pushed
the
dynamic_reconfigure
branch
from
03fabb0 to
fb4b05e
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Add dynamic reconfigure (only) for calibration parameters.
This is useful to tune this calibration parameters on the fly.
RT-safe implementation achieved on the second commit.