Function joint_trajectory_controller::get_segment_tolerances(rclcpp::Logger&, const Params&)

Defined in File tolerances.hpp

Function Documentation

SegmentTolerances joint_trajectory_controller::get_segment_tolerances(rclcpp::Logger &jtc_logger, const Params &params)

Populate trajectory segment tolerances using data from the ROS node.

It is assumed that the following parameter structure is followed on the provided LifecycleNode. Unspecified parameters will take the defaults shown in the comments:

constraints:
 goal_time: 1.0                   # Defaults to zero
 stopped_velocity_tolerance: 0.02 # Defaults to 0.01
 foo_joint:
   trajectory: 0.05               # Defaults to zero (ie. the tolerance is not enforced)
   goal:       0.03               # Defaults to zero (ie. the tolerance is not enforced)
 bar_joint:
   goal: 0.01

Parameters:

jtc_logger – The logger to use for output
params – The ROS Parameters

Returns:

Trajectory segment tolerances.