From c21f49ac3eed27313151534a190bdd022c2efd7a Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Sat, 14 Jul 2018 12:37:39 +0900 Subject: [PATCH] :wait-interpolation-smooth returns results of :interpolatingp of controllers on real robot --- pr2eus/robot-interface.l | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l index 4b8bfdbc4..025f1e2ae 100644 --- a/pr2eus/robot-interface.l +++ b/pr2eus/robot-interface.l @@ -644,7 +644,8 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i (send self :spin-once) ;; need to wait for feedback (send self :ros-wait 0.005)))) (while (null (send self :interpolating-smoothp time-to-finish ctype)) - (send self :ros-wait 0.005))) + (send self :ros-wait 0.005)) + (send-all controller-actions :interpolatingp)) (:interpolating-smoothp (time-to-finish &optional (ctype)) ;; controller-type "Check if the last sent motion will stop for next time-to-finish [msec]" (when (send self :simulation-modep)