Function joint_trajectory_controller::get_segment_tolerances(rclcpp::Logger&, const SegmentTolerances&, const control_msgs::action::FollowJointTrajectory::Goal&, const std::vector<std::string>&)

• Defined in File tolerances.hpp

Function Documentation

SegmentTolerances joint_trajectory_controller::get_segment_tolerances(rclcpp::Logger &jtc_logger, const SegmentTolerances &default_tolerances, const control_msgs::action::FollowJointTrajectory::Goal &goal, const std::vector<std::string> &joints)

Populate trajectory segment tolerances using data from an action goal.

Parameters:

• jtc_logger – The logger to use for output

• default_tolerances – The default tolerances to use if the action goal does not specify any.

• goal – The new action goal

• joints – The joints configured by ROS parameters

Returns:

Trajectory segment tolerances.