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Delayed Read Write Calls till after on_activate() is completed #89

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Delayed Read Write Calls till after on_activate() is completed #89

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1 change: 1 addition & 0 deletions dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ class DynamixelHardware : public hardware_interface::SystemInterface
ControlMode control_mode_{ControlMode::Position};
bool mode_changed_{false};
bool use_dummy_{false};
bool activated_{false};
};
} // namespace dynamixel_hardware

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15 changes: 14 additions & 1 deletion dynamixel_hardware/src/dynamixel_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,12 +229,16 @@ CallbackReturn DynamixelHardware::on_activate(const rclcpp_lifecycle::State & /*
reset_command();
write(rclcpp::Time{}, rclcpp::Duration(0, 0));

activated_ = true;

return CallbackReturn::SUCCESS;
}

CallbackReturn DynamixelHardware::on_deactivate(
const rclcpp_lifecycle::State & /* previous_state */)
{
activated_ = false;

RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "stop");
return CallbackReturn::SUCCESS;
}
Expand All @@ -243,6 +247,11 @@ return_type DynamixelHardware::read(
const rclcpp::Time & /* time */,
const rclcpp::Duration & /* period */)
{
if(!activated_)
{
return return_type::OK;
}

if (use_dummy_) {
return return_type::OK;
}
Expand Down Expand Up @@ -290,14 +299,18 @@ return_type DynamixelHardware::read(
joints_[i].state.velocity = dynamixel_workbench_.convertValue2Velocity(ids[i], velocities[i]);
joints_[i].state.effort = dynamixel_workbench_.convertValue2Current(currents[i]);
}

return return_type::OK;
}

return_type DynamixelHardware::write(
const rclcpp::Time & /* time */,
const rclcpp::Duration & /* period */)
{
if(!activated_)
{
return return_type::OK;
}

if (use_dummy_) {
for (auto & joint : joints_) {
joint.prev_command.position = joint.command.position;
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