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Fix atomic variables in JTC #1749

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Merged
merged 2 commits into from
Jun 18, 2025
Merged

Fix atomic variables in JTC #1749

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097d861
Initialize atomic_bool with false
christophfroehlich Jun 9, 2025
22c8aa0
subscriber_is_active_ should be atomic too
christophfroehlich Jun 9, 2025
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8 changes: 4 additions & 4 deletions ...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -153,9 +153,9 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
// Timeout to consider commands old
double cmd_timeout_;
// True if holding position or repeating last trajectory point in case of success
std::atomic<bool> rt_is_holding_;
std::atomic<bool> rt_is_holding_{false};
// TODO(karsten1987): eventually activate and deactivate subscriber directly when its supported
bool subscriber_is_active_ = false;
std::atomic<bool> subscriber_is_active_{false};
rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr joint_command_subscriber_ =
nullptr;

Expand All @@ -179,8 +179,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
using RealtimeGoalHandleBuffer = realtime_tools::RealtimeBuffer<RealtimeGoalHandlePtr>;

rclcpp_action::Server<FollowJTrajAction>::SharedPtr action_server_;
RealtimeGoalHandleBuffer rt_active_goal_; ///< Currently active action goal, if any.
std::atomic<bool> rt_has_pending_goal_; ///< Is there a pending action goal?
RealtimeGoalHandleBuffer rt_active_goal_; ///< Currently active action goal, if any.
std::atomic<bool> rt_has_pending_goal_{false}; ///< Is there a pending action goal?
rclcpp::TimerBase::SharedPtr goal_handle_timer_;
rclcpp::Duration action_monitor_period_ = rclcpp::Duration(50ms);

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