Describe the bug
After upgrading my ros2_control version from v 4.37.0 to this commit hash where boolean data types are handle, I noticed that gpio controller is triggering the following error:
[ros2_control_node-2] Exception thrown during reading the state of: GeneralSafetyIn/RunOk
[ros2_control_node-2] Exception thrown during reading the state of: PhysDigitalInputs/TruckOnState
[ros2_control_node-2] Exception thrown during reading the state of: PhysDigitalInputs/LoadFlap
That error comes from here where it didn't consider between different data types:
How do I fixed?
apply_command function
auto data_type = command_interface.get_data_type();
bool success;
if (data_type == hardware_interface::HandleDataType::DOUBLE) {
success = command_interface.set_value<double>(
gpio_commands.interface_values[gpio_index].values[command_interface_index]);
} else if (data_type == hardware_interface::HandleDataType::BOOL) {
// To be discussed with Jonas
success = command_interface.set_value<bool>(
gpio_commands.interface_values[gpio_index].values[command_interface_index]);
} else {
RCLCPP_ERROR(
get_node()->get_logger(), "Unsupported data type for interface %s",
full_command_interface_name.c_str());
return;
}
(void)success;
} catch (const std::exception & e) {
fprintf(
stderr, "Exception thrown during applying command stage of %s with message: %s \n",
full_command_interface_name.c_str(), e.what());
}apply_command
auto & command_interface = command_interfaces_map_.at(full_command_interface_name).get();
auto data_type = command_interface.get_data_type();
bool success;
if (data_type == hardware_interface::HandleDataType::DOUBLE) {
success = command_interface.set_value<double>(
gpio_commands.interface_values[gpio_index].values[command_interface_index]);
} else if (data_type == hardware_interface::HandleDataType::BOOL) {
// To be discussed with Jonas
success = command_interface.set_value<bool>(
gpio_commands.interface_values[gpio_index].values[command_interface_index] < 0.5 ? false : true);
} else {
RCLCPP_ERROR(
get_node()->get_logger(), "Unsupported data type for interface %s",
full_command_interface_name.c_str());
return;
}ros2_control.config.yaml
gpio_controller:
ros__parameters:
type: gpio_controllers/GpioCommandController
gpios:
- PhysDigitalOutputs
- GeneralSafetyIn
- PhysDigitalInputs
- PushThrResp
command_interfaces:
PhysDigitalOutputs:
- interfaces:
- TruckOn
state_interfaces:
GeneralSafetyIn:
- interfaces:
- RunOK
PhysDigitalInputs:
- interfaces:
- TruckOnState
- LoadFlap
PushThrResp:
- interfaces:
- PushThroughDisturdf example
<gpio name="GeneralSafetyIn">
<state_interface name="RunOK" data_type="bool"></state_interface>
</gpio>
Expected behavior
No error thrown when a bool signal arrives
Screenshots
If applicable, add screenshots to help explain your problem.
Environment (please complete the following information):
- OS: 24.04
- Version Jazzy
- Anything that may be unusual about your environment
Additional context
Add any other context about the problem here, especially include any modifications to ros2_control that relate to this issue.
Describe the bug
After upgrading my ros2_control version from v 4.37.0 to this commit hash where boolean data types are handle, I noticed that gpio controller is triggering the following error:
That error comes from here where it didn't consider between different data types:
How do I fixed?
apply_command function
apply_command
ros2_control.config.yaml
urdf example
Expected behavior
No error thrown when a bool signal arrives
Screenshots
If applicable, add screenshots to help explain your problem.
Environment (please complete the following information):
Additional context
Add any other context about the problem here, especially include any modifications to ros2_control that relate to this issue.