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JTC Open-loop Control Mode: Should last_commanded_state_ here be reduced to existing state interface from the hardware? Or is it OK to internally manage more control-states then can be received from hardware? #214

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destogl opened this issue Jul 12, 2021 · 2 comments
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JTC Open-loop Control Mode: Should last_commanded_state_ here be reduced to existing state interface from the hardware? Or is it OK to internally manage more control-states then can be received from hardware? #214

destogl opened this issue Jul 12, 2021 · 2 comments

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@destogl
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destogl commented Jul 12, 2021

Should last_commanded_state_ here be reduced to existing state interface from the hardware? Or is it OK to internally manage more control-states then can be received from hardware?

Originally posted by @destogl in #189 (comment)
@christophfroehlich
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@destogl could you please explain what you meant here? I'd be happy to implement that.

You mean that it should not set the point_before_trajectory_msg from the commands, if there is no state interface with identical hardware interface for the joint? What would be the alternative? Just use the first entry of the trajectory message?

@destogl
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destogl commented Sep 20, 2023

Not worth to take care of it.

@destogl destogl closed this as completed Sep 20, 2023
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@destogl @christophfroehlich