Catch two faulty cases and print an error instead

Author: urfeex

ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

@@ -167,8 +167,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   void stop_force_mode();
   void check_passthrough_trajectory_controller();
   void trajectory_done_callback(urcl::control::TrajectoryResult result);
-  bool has_accelerations(std::vector<std::array<double, 6>> accelerations);
-  bool has_velocities(std::vector<std::array<double, 6>> velocities);
+  bool is_valid_joint_information(std::vector<std::array<double, 6>> data);
 
   urcl::vector6d_t urcl_position_commands_;
   urcl::vector6d_t urcl_position_commands_old_;

ur_robot_driver/src/hardware_interface.cpp

@@ -1379,20 +1379,42 @@ void URPositionHardwareInterface::check_passthrough_trajectory_controller()
   // already received down to the hardware.
   if (trajectory_started && point_index_sent <= trajectory_joint_positions_.size() &&
       point_index_sent < point_index_received) {
+    bool error = false;
     /* Write the appropriate type of point depending on the combination of positions, velocities and accelerations. */
     for (size_t i = point_index_sent; i < point_index_received; i++) {
-      if (!has_velocities(trajectory_joint_velocities_) && !has_accelerations(trajectory_joint_accelerations_)) {
-        ur_driver_->writeTrajectorySplinePoint(trajectory_joint_positions_[i], urcl::vector6d_t{ 0, 0, 0, 0, 0, 0 },
-                                               trajectory_times_[i]);
-      } else if (has_velocities(trajectory_joint_velocities_) && !has_accelerations(trajectory_joint_accelerations_)) {
-        ur_driver_->writeTrajectorySplinePoint(trajectory_joint_positions_[i], trajectory_joint_velocities_[i],
-                                               trajectory_times_[i]);
-      } else if (has_velocities(trajectory_joint_velocities_) && has_accelerations(trajectory_joint_accelerations_)) {
-        ur_driver_->writeTrajectorySplinePoint(trajectory_joint_positions_[i], trajectory_joint_velocities_[i],
-                                               trajectory_joint_accelerations_[i], trajectory_times_[i]);
+      if (is_valid_joint_information(trajectory_joint_positions_)) {
+        if (!is_valid_joint_information(trajectory_joint_velocities_) &&
+            !is_valid_joint_information(trajectory_joint_accelerations_)) {
+          ur_driver_->writeTrajectorySplinePoint(trajectory_joint_positions_[i], urcl::vector6d_t{ 0, 0, 0, 0, 0, 0 },
+                                                 trajectory_times_[i]);
+        } else if (is_valid_joint_information(trajectory_joint_velocities_) &&
+                   !is_valid_joint_information(trajectory_joint_accelerations_)) {
+          ur_driver_->writeTrajectorySplinePoint(trajectory_joint_positions_[i], trajectory_joint_velocities_[i],
+                                                 trajectory_times_[i]);
+        } else if (!is_valid_joint_information(trajectory_joint_velocities_) &&
+                   is_valid_joint_information(trajectory_joint_accelerations_)) {
+          RCLCPP_ERROR(get_logger(), "Accelerations but no velocities given. If you want to specify accelerations with "
+                                     "a 0 velocity, please do that explicitly.");
+          error = true;
+          break;
+
+        } else if (is_valid_joint_information(trajectory_joint_velocities_) &&
+                   is_valid_joint_information(trajectory_joint_accelerations_)) {
+          ur_driver_->writeTrajectorySplinePoint(trajectory_joint_positions_[i], trajectory_joint_velocities_[i],
+                                                 trajectory_joint_accelerations_[i], trajectory_times_[i]);
+        }
+      } else {
+        RCLCPP_ERROR(get_logger(), "Trajectory points without position information are not supported.");
+        error = true;
+        break;
       }
       point_index_sent++;
     }
+    if (error) {
+      passthrough_trajectory_abort_ = 1.0;
+      passthrough_trajectory_transfer_state_ = 5.0;
+      return;
+    }
   }
 }
 
@@ -1407,14 +1429,9 @@ void URPositionHardwareInterface::trajectory_done_callback(urcl::control::Trajec
   return;
 }
 
-bool URPositionHardwareInterface::has_velocities(std::vector<std::array<double, 6>> velocities)
-{
-  return (velocities.size() > 0 && !std::isnan(velocities[0][0]));
-}
-
-bool URPositionHardwareInterface::has_accelerations(std::vector<std::array<double, 6>> accelerations)
+bool URPositionHardwareInterface::is_valid_joint_information(std::vector<std::array<double, 6>> data)
 {
-  return (accelerations.size() > 0 && !std::isnan(accelerations[0][0]));
+  return (data.size() > 0 && !std::isnan(data[0][0]));
 }
 
 }  // namespace ur_robot_driver