Changes have been pushed for the project "Fawkes Robotics Software Framework".
Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, common/colli has been updated to 26446a759d995f487b1115cee8a9a7f38a4c5b87 (commit) via 985d63d3febd94adde5bf30cc4833ba9dabbec84 (commit) from e6b7b9b7c07149437d255784e28eb2f5d28d71c6 (commit) http://git.fawkesrobotics.org/fawkes.git/common/colli Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 985d63d3febd94adde5bf30cc4833ba9dabbec84 Author: Bahram Maleki-Fard <maleki-f...@kbsg.rwth-aachen.de> AuthorDate: Fri Oct 10 11:51:21 2014 +0200 Commit: Bahram Maleki-Fard <maleki-f...@kbsg.rwth-aachen.de> CommitDate: Fri Oct 10 11:51:21 2014 +0200 skill relgoto: adapt to new NavigatorInterface DriveMode names http://git.fawkesrobotics.org/fawkes.git/commit/985d63d http://trac.fawkesrobotics.org/changeset/985d63d - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 26446a759d995f487b1115cee8a9a7f38a4c5b87 Author: Bahram Maleki-Fard <maleki-f...@kbsg.rwth-aachen.de> AuthorDate: Fri Oct 10 11:55:01 2014 +0200 Commit: Bahram Maleki-Fard <maleki-f...@kbsg.rwth-aachen.de> CommitDate: Fri Oct 10 11:55:01 2014 +0200 colli: check if transform to laser is still up to date (fix #341) The previous fix attempt checked if occupancy-grid could be updated. That is not enough, because the TF cache can be long (it was 10sec in testing). We now check in colli_thread if the transform has been updated recently, otherwise the robot stops. http://git.fawkesrobotics.org/fawkes.git/commit/26446a7 http://trac.fawkesrobotics.org/changeset/26446a7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/lua/skills/generic/relgoto.lua | 2 +- src/plugins/colli/colli_thread.cpp | 17 ++++++++++++++--- src/plugins/colli/colli_thread.h | 2 +- 3 files changed, 16 insertions(+), 5 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 985d63d3febd94adde5bf30cc4833ba9dabbec84 - - - - - - - - - - Author: Bahram Maleki-Fard <maleki-f...@kbsg.rwth-aachen.de> Date: Fri Oct 10 11:51:21 2014 +0200 Subject: skill relgoto: adapt to new NavigatorInterface DriveMode names src/lua/skills/generic/relgoto.lua | 2 +- 1 files changed, 1 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/lua/skills/generic/relgoto.lua b/src/lua/skills/generic/relgoto.lua index 39d9133..68b15e8 100644 --- a/src/lua/skills/generic/relgoto.lua +++ b/src/lua/skills/generic/relgoto.lua @@ -137,7 +137,7 @@ end function RELGOTO:init() if self.fsm.vars.backwards then - navigator:msgq_enqueue_copy(navigator.SetDriveModeMessage:new(navigator.SlowAllowBackward)) + navigator:msgq_enqueue_copy(navigator.SetDriveModeMessage:new(navigator.AllowBackward)) end if self.fsm.vars.params.x ~= nil then - *commit* 26446a759d995f487b1115cee8a9a7f38a4c5b87 - - - - - - - - - - Author: Bahram Maleki-Fard <maleki-f...@kbsg.rwth-aachen.de> Date: Fri Oct 10 11:55:01 2014 +0200 Subject: colli: check if transform to laser is still up to date (fix #341) src/plugins/colli/colli_thread.cpp | 17 ++++++++++++++--- src/plugins/colli/colli_thread.h | 2 +- 2 files changed, 15 insertions(+), 4 deletions(-) _Diff for modified files_: diff --git a/src/plugins/colli/colli_thread.cpp b/src/plugins/colli/colli_thread.cpp index 819c082..bbb7476 100644 --- a/src/plugins/colli/colli_thread.cpp +++ b/src/plugins/colli/colli_thread.cpp @@ -40,6 +40,7 @@ #include <interfaces/Laser360Interface.h> #include <interfaces/NavigatorInterface.h> #include <utils/math/common.h> +#include <tf/time_cache.h> #include <string> @@ -309,7 +310,7 @@ ColliThread::loop() // check if we need to abort for some reason bool abort = false; - if( !interfaces_valid() ) { + if( !interface_data_valid() ) { escape_count_ = 0; abort = true; @@ -740,7 +741,7 @@ ColliThread::interfaces_read() /// Check if the interface data is valid, i.e. not outdated bool -ColliThread::interfaces_valid() +ColliThread::interface_data_valid() { Time now(clock); @@ -748,6 +749,7 @@ ColliThread::interfaces_valid() * a) laser or motor interface have no writer * b) there is no new laser data for a while, or * c) there is no motor data for a while and colli is currently moving + * d) transforms have not been updated in a while */ if( !if_laser_->has_writer() || !if_motor_->has_writer() ) { logger->log_warn(name(), "Laser or Motor dead, no writing instance for interfaces!!!"); @@ -764,8 +766,17 @@ ColliThread::interfaces_valid() return false; } else { + // check if transforms are up to date + float diff = (now - tf_listener->get_frame( tf_listener->lookup_frame_number(cfg_frame_laser_) )->get_latest_timestamp()).in_sec(); + if( diff > 2.f* cfg_iface_read_timeout_) { + logger->log_warn(name(), "Transform to laser_frame '%s' is too old (%f > %f)", + cfg_frame_laser_.c_str(), diff, 2.f*cfg_iface_read_timeout_); + return false; - return true; + } else { + // everything OK + return true; + } } } diff --git a/src/plugins/colli/colli_thread.h b/src/plugins/colli/colli_thread.h index 47716f0..394564a 100644 --- a/src/plugins/colli/colli_thread.h +++ b/src/plugins/colli/colli_thread.h @@ -195,7 +195,7 @@ class ColliThread void interfaces_read(); /// Check if the interface data is valid, i.e. not outdated - bool interfaces_valid(); + bool interface_data_valid(); /// Check, in what state the colli is, and what to do void update_colli_state(); -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
