Fix read() in hardware plugin #47
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euyniy
commented
Jul 23, 2025
euyniy
commented
- Temporary fix: read method with effective refresh_all()
- Use conservative PD parameters for control
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Pull Request Overview
This PR fixes the read() method in the hardware plugin by implementing a temporary solution and adjusts control parameters for more conservative operation.
- Replaces problematic sleep/ignore pattern with refresh_all() call in read method
- Updates default PD controller gains to more conservative values
- Adds TODO comment indicating gripper mappings need implementation
Reviewed Changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| v10_simple_hardware.cpp | Fixes read method timing issues and adds gripper mapping TODO |
| v10_simple_hardware.hpp | Updates default KP gains to more conservative values |
| // Convert joint value (0-1) to motor position (radians) | ||
| double motor_command = joint_to_motor_radians(pos_commands_[ARM_DOF]); | ||
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| openarm_->get_gripper().mit_control_all({{5.0, 1.0, motor_command, 0, 0}}); |
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The magic numbers {5.0, 1.0, motor_command, 0, 0} should be replaced with named constants or variables to improve code readability and maintainability. Consider defining constants like GRIPPER_KP, GRIPPER_KD, etc.
Suggested change
| openarm_->get_gripper().mit_control_all({{5.0, 1.0, motor_command, 0, 0}}); | |
| openarm_->get_gripper().mit_control_all({{GRIPPER_KP, GRIPPER_KD, motor_command, GRIPPER_VELOCITY, GRIPPER_TORQUE}}); |
thomasonzhou
pushed a commit
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Jul 24, 2025
- Temporary fix: read method with effective refresh_all() - Use conservative PD parameters for control Fix typo in config yaml param Bump version to v1.0
euyniy
added a commit
that referenced
this pull request
Jul 25, 2025
- Temporary fix: read method with effective refresh_all() - Use conservative PD parameters for control Fix typo in config yaml param Bump version to v1.0
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