Drop hardware interface lifecycle state when reading fails#1712
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URJala wants to merge 10 commits intoUniversalRobots:mainfrom
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Drop hardware interface lifecycle state when reading fails#1712URJala wants to merge 10 commits intoUniversalRobots:mainfrom
URJala wants to merge 10 commits intoUniversalRobots:mainfrom
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With all the functions that currently support it
So write will always fail if writing to hardware fails with any synchronous controller
Not sure if it is the optimal timeout value though
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If non_blocking_read is false, the hardware interface will error out if it fails to read a package from rtde.
If non_blocking_read is true I have added a timeout, which is configurable through the ros2_control xacro, as it does not seem totally right to just ignore missed reads forever. The default value is 0.04 seconds like the robot_receive_timeout, but I am not sure if that is the optimal value.
Also added the timeout to the documentation.
As it is right now the driver might fail to launch if the timeout is small (<10 ms), as the first couple of cycles take a longer time I guess. Don't know if we should add a "grace period" on startup before counting toward the timeout? It is not as much of an issue on a real robot as in the simulator though.
I also added checks to write() so that if any of the calls to the robot fail, the hardware interface will also stop.
I did not write tests, as I am not sure how I would go about testing this in CI
Related to #1656