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Merged
domire8 merged 4 commits into from
Jun 10, 2025
Merged

fix(controllers): reset previous joint commands #211

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32ee883
fix(controllers): reset prevoius joint commands
domire8 Jun 5, 2025
8608b4d
fix: simplify
domire8 Jun 6, 2025
a530e71
docs: changelog
domire8 Jun 6, 2025
0837b29
fix: typo
domire8 Jun 6, 2025
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -21,6 +21,10 @@ Release Versions:
- [2.1.1](#211)
- [2.1.0](#210)

## Upcoming changes

- fix(controllers): reset previous joint commands (#211)

## 5.2.1

### May 15th, 2025
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2 changes: 1 addition & 1 deletion aica-package.toml
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Expand Up @@ -9,7 +9,7 @@ name = "modulo"

[build]
type = "ros"
image = "v2.0.2-jazzy"
image = "v2.0.5-jazzy"

[build.dependencies]
"@aica/foss/control-libraries" = "v9.0.0"
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6 changes: 6 additions & 0 deletions source/modulo_controllers/include/modulo_controllers/RobotControllerInterface.hpp
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Expand Up @@ -55,6 +55,12 @@ class RobotControllerInterface : public ControllerInterface {
*/
CallbackReturn on_activate() override;

/**
* @copydoc modulo_controllers::ControllerInterface::on_deactivate()
* @details Reset the previous joint commands
*/
CallbackReturn on_deactivate() override;

protected:
/**
* @brief Access the joint state object.
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8 changes: 8 additions & 0 deletions source/modulo_controllers/src/RobotControllerInterface.cpp
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Expand Up @@ -196,6 +196,14 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotC
return CallbackReturn::SUCCESS;
}

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotControllerInterface::on_deactivate() {
if (!control_type_.empty() && control_type_ != hardware_interface::HW_IF_POSITION) {
std::fill(previous_joint_command_values_.begin(), previous_joint_command_values_.end(), 0.0);
}
RCLCPP_DEBUG(get_node()->get_logger(), "Deactivation of RobotControllerInterface successful");
return CallbackReturn::SUCCESS;
}

controller_interface::return_type RobotControllerInterface::read_state_interfaces() {
auto status = ControllerInterface::read_state_interfaces();
if (status != controller_interface::return_type::OK) {
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