Added inactive_timeout as parameter

Author: VinDp

ur_controllers/doc/index.rst

@@ -282,13 +282,15 @@ Parameters
 +----------------------------------+--------------+----------------------------------------+------------------------------------------------------------------------------------------------------------------+
 | ``tf_prefix``                    | string       | <empty>                                | Urdf prefix of the corresponding arm                                                                             |
 +----------------------------------+--------------+----------------------------------------+------------------------------------------------------------------------------------------------------------------+
+| ``inactive_timeout``             | int          | 10                                     | Time interval (in seconds) of message inactivity after which freedrive is deactivated                            |
++----------------------------------+--------------+----------------------------------------+------------------------------------------------------------------------------------------------------------------+
 
 Usage
 """""
 
-The controller provides the ``enable_freedrive_mode`` topic of type ``[std_msgs/msg/Bool]`` for handling activation and deactivation:
+The controller provides the ``/enable_freedrive_mode`` topic of type ``[std_msgs/msg/Bool]`` for handling activation and deactivation:
 
 * to start and keep the freedrive active, it is necessary to continously publish a ``True`` msg on the indicated topic.
   To deal with malfunctioning on the client side, the controller deactivates the freedrive mode if messages
-  are not received anymore within the ``timeout`` parameter.
+  are not received anymore within the ``inactive_timeout`` parameter.
 + to deactivate the freedrive mode is enough to publish a ``False`` msg on the indicated topic or to deactivate the controller.

ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp

@@ -94,7 +94,7 @@ class FreedriveModeController : public controller_interface::ControllerInterface
   std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Bool>> enable_freedrive_mode_sub_;
 
   rclcpp::TimerBase::SharedPtr freedrive_sub_timer_;  ///< Timer to check on the topic
-  std::chrono::seconds timeout_interval_ = std::chrono::seconds(2);
+  mutable std::chrono::seconds timeout_interval_;
   void readFreedriveModeCmd(const std_msgs::msg::Bool::SharedPtr msg);
 
   std::shared_ptr<freedrive_mode_controller::ParamListener> freedrive_param_listener_;

ur_controllers/src/freedrive_mode_controller.cpp

@@ -62,6 +62,7 @@ controller_interface::InterfaceConfiguration FreedriveModeController::command_in
   config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
 
   const std::string tf_prefix = freedrive_params_.tf_prefix;
+  timeout_interval_ = std::chrono::seconds(freedrive_params_.inactive_timeout);
 
   // Get the command interfaces needed for freedrive mode from the hardware interface
   config.names.emplace_back(tf_prefix + "freedrive_mode/async_success");

ur_controllers/src/freedrive_mode_controller_parameters.yaml

@@ -5,6 +5,11 @@ freedrive_mode_controller:
     default_value: "",
     description: "Urdf prefix of the corresponding arm"
   }
+  inactive_timeout: {
+    type: int,
+    default_value: 10,
+    description: "Time interval (in seconds) of message inactivity after which freedrive is deactivated"
+  }
   check_io_successful_retries: {
     type: int,
     default_value: 10,