ROS repeatedly sends same trajectory command to robot
GoogleCodeExporter opened this issue · comments
This bug occurs when using the STREAMING interface from the
industrial_robot_client library (e.g. joint_trajectory_streamer.cpp). The ROS
node can sometimes get in a state where it repeatedly sends the first
trajectory point to the robot, in an endless loop.
Original issue reported on code.google.com by jz...@swri.org on 29 Apr 2013 at 4:12
When this occurs, the robot can be "fixed" by adjusting the logging level for
the streaming node.
It turns out, the joint_trajectory_streamer interface increments the trajectory
index *inside* the ROS_INFO logging statement. When this logging level is
disabled, the trajectory index is never incremented, and the same point is
repeatedly sent to the robot controller.
The correct fix is to move the index-increment outside of the ROS_INFO logging
call.
Original comment by jz...@swri.org on 29 Apr 2013 at 4:14
- Changed state: Started
Fixed in r1302.
Original comment by jz...@swri.org on 29 Apr 2013 at 4:40
- Changed state: Fixed