driver: use default rates for JTC goal monitor rates. #221
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This is for #151. And for |
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I am a bit confused. I though you were talking about If I read the diff correct, this PR basically increases the |
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No. That's what I did. Please see the commit comment. It should clarify things. It doesn't make sense to lower It does make sense to increase So that's what I did. |
I did, that's part of my confusion
That's the part I don't understand. Why were they running at
I agree :-)
I agree :-)
I'm fine with merging the result. |
Yes, that is confusing. I wrote that comment when I still had a change in there for I'll update the commit comment. |
The old values overrode the default of 20 Hz, which is low and leads to a worst-case delay of approx 100 ms between a goal state change and action clients being notified of that change. This restores the rate to the default of 20 Hz. If a higher update-rate would be desirable for a particular application, users should change it in their own configuration of the controllers.
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@gavanderhoorn Thank you, this is more understandable :-) |
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"Fixed" branch name is still a bit weird, but I'll leave it like this. |
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Looks good to me.
Thanks for cleaning that up @gavanderhoorn
As per subject.
See the commit comment for some rationale.
Note: the
state_publish_ratehas been left to be equal to theloop_hz, as this controls how often the internal (position/velocity/effort) controller of the JTC publishes its state (ie: tracking error, target position, etc). That is something which should be published at the same rate the controller is run to actually be useful.