EmbodiedAI
/
quadruped_ros2_control
mirror of https://github.com/legubiao/quadruped_ros2_control.git
3
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

avoid multiple switch event

This commit is contained in:
Huang Zhenbiao 2024-09-29 20:45:50 +08:00
parent e0020b4bfe
commit 0ed329a44d
2 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/GaitManager.h
View File

@ -31,6 +31,7 @@ namespace ocs2::legged_robot {
std::shared_ptr<GaitSchedule> gait_schedule_ptr_; std::shared_ptr<GaitSchedule> gait_schedule_ptr_;
ModeSequenceTemplate target_gait_; ModeSequenceTemplate target_gait_;
int last_command_ = 0;
bool gait_updated_{false}; bool gait_updated_{false};
bool verbose_{false}; bool verbose_{false};
std::vector<ModeSequenceTemplate> gait_list_; std::vector<ModeSequenceTemplate> gait_list_;

2
controllers/ocs2_quadruped_controller/src/control/GaitManager.cpp
View File

@ -42,6 +42,8 @@ namespace ocs2::legged_robot {
void GaitManager::getTargetGait() { void GaitManager::getTargetGait() {
if (ctrl_component_.control_inputs_.command == 0) return; if (ctrl_component_.control_inputs_.command == 0) return;
if (ctrl_component_.control_inputs_.command == last_command_) return;
last_command_ = ctrl_component_.control_inputs_.command;
target_gait_ = gait_list_[ctrl_component_.control_inputs_.command - 1]; target_gait_ = gait_list_[ctrl_component_.control_inputs_.command - 1];
RCLCPP_INFO(rclcpp::get_logger("GaitManager"), "Switch to gait: %s", RCLCPP_INFO(rclcpp::get_logger("GaitManager"), "Switch to gait: %s",
gait_name_list_[ctrl_component_.control_inputs_.command - 1].c_str()); gait_name_list_[ctrl_component_.control_inputs_.command - 1].c_str());