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personalrobotics / ada_feeding

Robot-assisted feeding demos and projects for the ADA robot

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[ROS2] Check the re-taring delay

amalnanavati opened this issue · comments

commented

Currently, the pre_moveto_config idiom waits for the re-taring service to succeed and then immediately re-enables the watchdog listener. However, the core question is: do the FT sensor readings pause for ~0.75s before the service returns success, or after?

  • If before: pre_moveto_config is fine, just modify dummy_ft_sensor to mimic this behavior.
  • If after: add a sleep to pre_moveto_config, no need to modify dummy_ft_sensor.
commented

This commit in forque_sensor_hardware addresses the issue. Now the F/T sensor keeps publishing data during retaring, it just drops from 100 Hz to 10 Hz. As a result, there is no longer a need to toggle the watchdog listener off during re-taring.