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Fix joint state controller exception starting with 0 time #629

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Fix joint state controller exception starting with 0 time #629

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1 change: 0 additions & 1 deletion joint_state_controller/include/joint_state_controller/joint_state_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,6 @@ class JointStateController: public controller_interface::Controller<hardware_int
ros::Time last_publish_time_;
double publish_rate_;
unsigned int num_hw_joints_; ///< Number of joints present in the JointStateInterface, excluding extra joints
bool pub_time_initialized_;

void addExtraJoints(const ros::NodeHandle& nh, sensor_msgs::JointState& msg);
};
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11 changes: 1 addition & 10 deletions joint_state_controller/src/joint_state_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,26 +80,17 @@ namespace joint_state_controller
}
addExtraJoints(controller_nh, realtime_pub_->msg_);

pub_time_initialized_=false;

return true;
}

void JointStateController::starting(const ros::Time& time)
{
// initialize time exactly once, to maintain publish rate through controller resets
if (!pub_time_initialized_)
{
last_publish_time_ = time - ros::Duration(1.001/publish_rate_); //ensure publish on first cycle
pub_time_initialized_ = true;
}
}

void JointStateController::update(const ros::Time& time, const ros::Duration& /*period*/)
{
// limit rate of publishing
if (publish_rate_ > 0.0 && last_publish_time_ + ros::Duration(1.0/publish_rate_) < time){

if (publish_rate_ > 0.0 && (last_publish_time_.isZero() || last_publish_time_ + ros::Duration(1.0/publish_rate_) < time)){
// try to publish
if (realtime_pub_->trylock()){
// we're actually publishing, so increment time
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