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Initialize odom2pitch_des in rate through starting #175

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merged 1 commit into from
Aug 2, 2024
Merged

Initialize odom2pitch_des in rate through starting #175

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1 change: 1 addition & 0 deletions rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -204,6 +204,7 @@ class Controller : public controller_interface::MultiInterfaceController<rm_cont
TRAJ
};
int state_ = RATE;
bool start_ = false;
};

} // namespace rm_gimbal_controllers
22 changes: 9 additions & 13 deletions rm_gimbal_controllers/src/gimbal_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,22 +148,11 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
return true;
}

void Controller::starting(const ros::Time& time)
void Controller::starting(const ros::Time& /*unused*/)
{
state_ = RATE;
state_changed_ = true;
try
{
odom2pitch_ = robot_state_handle_.lookupTransform("odom", pitch_joint_urdf_->child_link_name, time);
}
catch (tf2::TransformException& ex)
{
ROS_WARN("%s", ex.what());
return;
}
odom2gimbal_des_.transform.rotation = odom2pitch_.transform.rotation;
odom2gimbal_des_.header.stamp = time;
robot_state_handle_.setTransform(odom2gimbal_des_, "rm_gimbal_controllers");
start_ = true;
}

void Controller::update(const ros::Time& time, const ros::Duration& period)
Expand Down Expand Up @@ -266,6 +255,13 @@ void Controller::rate(const ros::Time& time, const ros::Duration& period)
{ // on enter
state_changed_ = false;
ROS_INFO("[Gimbal] Enter RATE");
if (start_)
{
odom2gimbal_des_.transform.rotation = odom2pitch_.transform.rotation;
odom2gimbal_des_.header.stamp = time;
robot_state_handle_.setTransform(odom2gimbal_des_, "rm_gimbal_controllers");
start_ = false;
}
}
else
{
Expand Down
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