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set start_position as current_pos and make sure the joints with enabled torque #79

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set start_position as current_pos and make sure the joints with enabled torque #79

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13 changes: 12 additions & 1 deletion dynamixel_controllers/src/dynamixel_controllers/joint_trajectory_action_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,18 @@ def process_trajectory(self, traj):
rospy.logerr(msg)
self.action_server.set_aborted(text=msg)
return

# make sure the joints with enabled torque
multi_packet_torque={}
for port, joints in self.port_to_joints.items():
vals=[]
for joint in joints:
motor_id=self.joint_to_controller[joint].motor_id
vals.append((motor_id, True))
multi_packet_torque[port] = vals

for port, vals in multi_packet_torque.items():
self.port_to_io[port].set_multi_torque_enabled(vals)

# correlate the joints we're commanding to the joints in the message
# map from an index of joint in the controller to an index in the trajectory
Expand Down Expand Up @@ -252,7 +264,6 @@ def process_trajectory(self, traj):
j = self.joint_names.index(joint)

start_position = self.joint_states[joint].current_pos
if seg != 0: start_position = trajectory[seg - 1].positions[j]

desired_position = trajectory[seg].positions[j]
desired_velocity = max(self.min_velocity, abs(desired_position - start_position) / durations[seg])
Expand Down