Bugfix/dropped commands #103
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…command() condition to be a bit more readable
…nnecessary as dynamixel servos do not require a push_command() call
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This fix addresses a bug that occurs when the
joint_trajectory_serverinterprets aFollowJointTrajectoryGoalwhere all trajectory points are already within theacceptable_joint_errorthreshold and then within 1/80th of a second attempts to interpret anotherFollowJointTrajectoryGoal. The second call ofexecute_cb()calls therobot.push_command()method at a frequency higher then 80 hz resulting in a dropped motor command. This dropped motor command causes thejoint_trajectory_serverto find it's goals unreachable until thedefault_goal_timeout_durationof 10.0 seconds is reached.In this fix the
init_execution()method of each command group now returns a boolean value indicating if a subsequent call torobot.push_command()is appropriate. If at least one of commanded joints returns true (and thusly it can be inferred that joint will take time to move)robot.push_command()is called. The command groups controlling Dynamixel servos will always return false if active because they never require apush_command()call.This bug can be recreated on the dev/noetic branch with this gist but not on the bugfix/dropped-commands branch.