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Debug ci failure #1682

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8596739
Add output to goal tolerance failures in passthrough controller
urfeex Feb 24, 2026
94f2010
Add velocity-related debug output to joint tolerance
urfeex Feb 26, 2026
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12 changes: 9 additions & 3 deletions ur_controllers/src/passthrough_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -797,19 +797,25 @@ bool PassthroughTrajectoryController::check_goal_tolerance()
return false;
}
if (std::abs(joint_pos.value() - setpoint) > joint_tol.position) {
// RCLCPP_ERROR(
// get_node()->get_logger(), "Joint %s should be at position %f, but is at position %f, where tolerance is %f",
// joint_position_state_interface_[i].get().get_name().c_str(), setpoint, joint_pos, joint_tol.position);
RCLCPP_ERROR(
get_node()->get_logger(), "Joint %s should be at position %f, but is at position %f, where tolerance is %f",
joint_position_state_interface_[i].get().get_name().c_str(), setpoint, joint_pos.value(), joint_tol.position);
return false;
}

if (!active_joint_traj_.points.back().velocities.empty() && !joint_velocity_state_interface_.empty()) {
const auto joint_vel = joint_velocity_state_interface_[i].get().get_optional();
if (!joint_vel.has_value()) {
RCLCPP_ERROR(get_node()->get_logger(), "Could not read velocity for joint %s, cannot check velocity tolerance.",
joint_velocity_state_interface_[i].get().get_name().c_str());
return false;
}
const auto& expected_vel = active_joint_traj_.points.back().velocities[joint_mapping->at(joint_name)];
if (std::abs(joint_vel.value() - expected_vel) > joint_tol.velocity) {
RCLCPP_ERROR(get_node()->get_logger(),
"Joint %s should be at velocity %f, but is at velocity %f, where tolerance is %f",
joint_velocity_state_interface_[i].get().get_name().c_str(), expected_vel, joint_vel.value(),
joint_tol.velocity);
return false;
}
}
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