ros-controls / ros-controls/ros2_controllers
[JTC] Sending an empty traj topic overrides the current action goal
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- Dominant language
- C++
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Description
Sending an empty trajectory message from the topic interface (not the action interface) will override the current action goal and not abort the action.
I think it will be overridden, but it should not be. The explanation is correct, but I don't think it is desirable.
Originally posted by @destogl in https://github.com/ros-controls/ros2_controllers/pull/566#discussion_r1163167321
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by tracing the topic interface and action interface handling for trajectory messages in the controller. Reproduce sending an empty trajectory topic message while an action goal is active, then inspect the resulting goal state and abort behavior. Done means the intended interaction between the empty topic message and the active action goal is implemented and covered by a regression test.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100