Updated ISMC to use TwistStamped instead of Twist #45
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…me buffers to copy message instead of pointer
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@mergify backport jazzy humble iron |
✅ Backports have been created
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evan-palmer
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Sep 25, 2024
…me buffers to copy message instead of pointer (#45) (#46) (cherry picked from commit 0a29970) Co-authored-by: Evan Palmer <[email protected]>
evan-palmer
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Sep 25, 2024
…me buffers to copy message instead of pointer (#45) (#47) (cherry picked from commit 0a29970) Co-authored-by: Evan Palmer <[email protected]>
evan-palmer
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Sep 25, 2024
…me buffers to copy message instead of pointer (#45) (#48) (cherry picked from commit 0a29970) Co-authored-by: Evan Palmer <[email protected]>
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Changes Made
This PR makes a few changes:
geometry_msgs/Twistsubscriber to ageometry_msgs/TwistStampedsubscriber. While this information isn't technically used, it does make processing state messages that come from sensors/estimators, which are traditionally stamped messages, much easier.TwistStampedsubscriber, I ended up modifying theRealTimeBufferto use aTwistinstead of ashared_ptr. While this technically introduces a slight overhead (the messages are copied now - not the pointers) and goes against the recommended approach proposed by the ros2_control folks, I think this improves readability of the code. The overhead isn't huge either becauseTwistmessages aren't large. This may also address some of the issues discussed in [Bugfix] Fix Segfault in ISMC #36 - not sure about that though. I updated the other controllers in the process to be consistent across controllers.Associated Issues
Testing
Performed testing using the blue keyboard teleop demo.