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JTC add more options for tolerance configuration #1677

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ecff43d
JTC add more options for tolerance configuration
Vedant87 May 11, 2025
55209d0
Merge branch 'master' into JTC_add_options_tolerance_config
Vedant87 May 11, 2025
0002fa1
Merge branch 'master' into JTC_add_options_tolerance_config
Vedant87 May 13, 2025
dca0485
Merge branch 'master' into JTC_add_options_tolerance_config
Vedant87 May 27, 2025
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7 changes: 7 additions & 0 deletions ...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,10 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State & previous_state) override;

// New methods to handle velocity and acceleration tolerances
void setVelocityTolerance(double tolerance);
void setAccelerationTolerance(double tolerance);

protected:
// To reduce number of variables and to make the code shorter the interfaces are ordered in types
// as the following constants
Expand Down Expand Up @@ -290,6 +294,9 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
joint_interface[index].get().set_value(trajectory_point_interface[map_cmd_to_joints_[index]]);
}
}

double velocity_tolerance_;
double acceleration_tolerance_;
};

} // namespace joint_trajectory_controller
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4 changes: 4 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Expand Up @@ -55,6 +55,10 @@ controller_interface::CallbackReturn JointTrajectoryController::on_init()
// Create the parameter listener and get the parameters
param_listener_ = std::make_shared<ParamListener>(get_node());
params_ = param_listener_->get_params();
// Read new velocity and acceleration tolerances
velocity_tolerance_ = get_node()->get_parameter("constraints.velocity_tolerance").as_double();
acceleration_tolerance_ =
get_node()->get_parameter("constraints.acceleration_tolerance").as_double();
Comment on lines +58 to +61
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you don't need to use get_parameter() method. Have a look at the structure params_ , generate_parameter_library automatically fills this.

}
catch (const std::exception & e)
{
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10 changes: 10 additions & 0 deletions joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
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I think the initial idea was to have them per-joint, as it is used in the action
https://github.com/ros-controls/control_msgs/blob/master/control_msgs/action/FollowJointTrajectory.action
and defined here
https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg

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I suggest adding the parameters constraints.__map_joints.trajectory_velocity, constraints.__map_joints.goal_velocity etc. We cannot easily rename the old parameters, as it would change existing code. If necessary, we have to deprecate the old parameters and add something like
constraints.__map_joints.path.position
constraints.__map_joints.path.velocity
constraints.__map_joints.path.acceleration

Original file line number Diff line number Diff line change
Expand Up @@ -160,3 +160,13 @@ joint_trajectory_controller:
default_value: 0.0,
description: "Per-joint trajectory offset tolerance at the goal position.",
}
velocity_tolerance: {
type: double,
default_value: 0.0,
description: "Velocity tolerance for trajectory segments.",
}
acceleration_tolerance: {
type: double,
default_value: 0.0,
description: "Acceleration tolerance for trajectory segments.",
}
4 changes: 4 additions & 0 deletions joint_trajectory_controller/test/test_joint_trajectory_controller_params.yaml
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Expand Up @@ -10,3 +10,7 @@ test_joint_trajectory_controller:

state_interfaces:
- position

constraints:
velocity_tolerance: 0.05
acceleration_tolerance: 0.1
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