SimpleController: fix sending commands without having any input samples - #2
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D-Alex wants to merge 3 commits into
Open
SimpleController: fix sending commands without having any input samples#2D-Alex wants to merge 3 commits into
D-Alex wants to merge 3 commits into
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added 3 commits
November 30, 2015 19:31
If a data connection to the input port exists the controller sends old data as new commands even if no new input samples are available. This results in a dangerous behaviour commanding the robot to move without any timeout. The new implementation repeats the command until a timeout interval passed. After this stop commands are sent until a new input sample arrived. This ensures that if the commanding component freezes or forgets to send a stop command the robot stops after n seconds.
base/MotionCommand2D is the old name and currently a typedef for base/commands/Motion2d. MotionCommand2D is going to be removed from base/types
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If a data connection to the input port exists the controller sends old
data as new commands even if no new input samples are available. This
results in a dangerous behaviour commanding the robot to move without
any timeout.
The new implementation repeats the command until a timeout
interval passed. After this, stop commands are sent until a new
input sample arrived. This ensures that if the commanding component
freezes or forgets to send a stop command the robot stops after n
seconds.