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Unifies all controllers cmd_vel_timeout and reference_timeout units to be in seconds #2262

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Unifies all controllers cmd_vel_timeout and reference_timeout units to be in seconds #2262

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2 changes: 1 addition & 1 deletion tricycle_controller/config/tricycle_drive_controller.yaml
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Expand Up @@ -35,7 +35,7 @@ tricycle_controller:
# max_acceleration: 1000.0

# cmd_vel input
cmd_vel_timeout: 500 # In milliseconds. Timeout to stop if no cmd_vel is received
cmd_vel_timeout: 0.5 # In seconds. Timeout to stop if no cmd_vel is received

# Debug
publish_ackermann_command: true # Publishes AckermannDrive. The speed does not comply to the msg definition, it the wheel angular speed in rad/s.
2 changes: 1 addition & 1 deletion tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
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Expand Up @@ -128,7 +128,7 @@ class TricycleController : public controller_interface::ControllerInterface
tf2_msgs::msg::TFMessage tf_msg_;

// Timeout to consider cmd_vel commands old
std::chrono::milliseconds cmd_vel_timeout_{500};
rclcpp::Duration cmd_vel_timeout_ = rclcpp::Duration::from_seconds(0.5);

bool subscriber_is_active_ = false;
rclcpp::Subscription<TwistStamped>::SharedPtr velocity_command_subscriber_ = nullptr;
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2 changes: 1 addition & 1 deletion tricycle_controller/src/tricycle_controller.cpp
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Expand Up @@ -256,7 +256,7 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State &
odometry_.setWheelParams(params_.wheelbase, params_.wheel_radius);
odometry_.setVelocityRollingWindowSize(static_cast<size_t>(params_.velocity_rolling_window_size));

cmd_vel_timeout_ = std::chrono::milliseconds{params_.cmd_vel_timeout};
cmd_vel_timeout_ = rclcpp::Duration::from_seconds(params_.cmd_vel_timeout);
params_.publish_ackermann_command =
get_node()->get_parameter("publish_ackermann_command").as_bool();

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6 changes: 3 additions & 3 deletions tricycle_controller/src/tricycle_controller_parameter.yaml
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Expand Up @@ -67,9 +67,9 @@ tricycle_controller:
description: "for doing the pose integration in separate node.",
}
cmd_vel_timeout: {
type: int,
default_value: 500, # milliseconds
description: "Timeout in milliseconds, after which input command on ``cmd_vel`` topic is considered staled.",
type: double,
default_value: 0.5, # seconds
description: "Timeout in seconds, after which input command on ``cmd_vel`` topic is considered staled.",
}
publish_ackermann_command: {
type: bool,
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