Set allow_nonzero_velocity_at_trajectory_end default false

ros-controls · Nov 17, 2023 · d217547 · d217547
1 parent 84bd61b
commit d217547
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Showing 3 changed files with 2 additions and 12 deletions.
diff --git a/joint_trajectory_controller/doc/parameters.rst b/joint_trajectory_controller/doc/parameters.rst
@@ -66,7 +66,7 @@ start_with_holding (bool)
 allow_nonzero_velocity_at_trajectory_end (boolean)
   If false, the last velocity point has to be zero or the goal will be rejected.
 
-  Default: true
+  Default: false
 
 cmd_timeout (double)
   Timeout after which the input command is considered stale.
@@ -147,5 +147,4 @@ gains.<joint_name>.angle_wraparound (bool)
   Otherwise  :math:`e = s_d - s` is used, with the desired position :math:`s_d` and the measured
   position :math:`s` from the state interface.
 
-
   Default: false
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -64,15 +64,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_init()
     return CallbackReturn::ERROR;
   }
 
-  // TODO(christophfroehlich): remove deprecation warning
-  if (params_.allow_nonzero_velocity_at_trajectory_end)
-  {
-    RCLCPP_WARN(
-      get_node()->get_logger(),
-      "[Deprecated]: \"allow_nonzero_velocity_at_trajectory_end\" is set to "
-      "true. The default behavior will change to false.");
-  }
-
   return CallbackReturn::SUCCESS;
 }
 

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -80,7 +80,7 @@ joint_trajectory_controller:
   }
   allow_nonzero_velocity_at_trajectory_end: {
     type: bool,
-    default_value: true,
+    default_value: false,
     description: "If false, the last velocity point has to be zero or the goal will be rejected",
   }
   cmd_timeout: {