Add option to stop control on system time jump (#125)

openspur · Apr 2, 2024 · ee35fe0 · ee35fe0
1 parent 33a14c9
commit ee35fe0
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/package.xml b/package.xml
@@ -27,5 +27,5 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>trajectory_msgs</depend>
-  <depend version_gte="1.21.0">ypspur</depend>
+  <depend version_gte="1.22.0">ypspur</depend>
 </package>
diff --git a/src/ypspur_ros.cpp b/src/ypspur_ros.cpp
@@ -454,6 +454,8 @@ class YpspurRosNode
     }
     pnh_.param(
         "wait_convergence_of_joint_trajectory_angle_vel", wait_convergence_of_joint_trajectory_angle_vel_, true);
+    bool exit_on_time_jump;
+    pnh_.param("exit_on_time_jump", exit_on_time_jump, false);
     pnh_.param("ypspur_bin", ypspur_bin_, std::string("ypspur-coordinator"));
     pnh_.param("param_file", param_file_, std::string(""));
     pnh_.param("tf_time_offset", tf_time_offset_, 0.0);
@@ -659,6 +661,8 @@ class YpspurRosNode
           args.push_back(std::string("--enable-get-digital-io"));
         if (simulate_)
           args.push_back(std::string("--without-device"));
+        if (exit_on_time_jump)
+          args.push_back(std::string("--exit-on-time-jump"));
         if (param_file_.size() > 0)
         {
           args.push_back(std::string("-p"));