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Fix JTC state_msg #1985

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Fix JTC state_msg #1985

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b80ec73
Update state_current_.time_from_start
christophfroehlich Nov 2, 2025
525b033
Update all fields
christophfroehlich Nov 2, 2025
0b02d4c
Update test
christophfroehlich Nov 2, 2025
c1f15f6
Update also time from state_desired_
christophfroehlich Nov 2, 2025
5cb0bd7
Merge branch 'humble' into fix/state_msg
christophfroehlich Nov 3, 2025
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28 changes: 21 additions & 7 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,8 @@ controller_interface::return_type JointTrajectoryController::update(
TrajectoryPointConstIter start_segment_itr, end_segment_itr;
const bool valid_point = traj_external_point_ptr_->sample(
time, interpolation_method_, state_desired_, start_segment_itr, end_segment_itr);
state_desired_.time_from_start = state_current_.time_from_start =
time - traj_external_point_ptr_->time_from_start();

if (valid_point)
{
Expand Down Expand Up @@ -1190,15 +1192,9 @@ void JointTrajectoryController::publish_state(
state_publisher_->msg_.reference.velocities = desired_state.velocities;
state_publisher_->msg_.reference.accelerations = desired_state.accelerations;
state_publisher_->msg_.reference.time_from_start = desired_state.time_from_start;
state_publisher_->msg_.feedback.time_from_start = current_state.time_from_start;
state_publisher_->msg_.feedback.positions = current_state.positions;
// DESIRED and ACTUAL are deprecated in the message but we are still
// reporting on them
state_publisher_legacy_->msg_.desired.positions = desired_state.positions;
state_publisher_legacy_->msg_.desired.velocities = desired_state.velocities;
state_publisher_legacy_->msg_.desired.accelerations = desired_state.accelerations;
state_publisher_legacy_->msg_.actual.positions = current_state.positions;
state_publisher_->msg_.error.positions = state_error.positions;
state_publisher_->msg_.feedback.time_from_start = desired_state.time_from_start;
if (has_velocity_state_interface_)
{
state_publisher_->msg_.feedback.velocities = current_state.velocities;
Expand All @@ -1209,6 +1205,24 @@ void JointTrajectoryController::publish_state(
state_publisher_->msg_.feedback.accelerations = current_state.accelerations;
state_publisher_->msg_.error.accelerations = state_error.accelerations;
}

// DESIRED and ACTUAL are deprecated in the message but we are still
// reporting on them
state_publisher_->msg_.desired.time_from_start = desired_state.time_from_start;
state_publisher_->msg_.desired.positions = desired_state.positions;
state_publisher_->msg_.desired.velocities = desired_state.velocities;
state_publisher_->msg_.desired.accelerations = desired_state.accelerations;
state_publisher_->msg_.actual.time_from_start = current_state.time_from_start;
state_publisher_->msg_.actual.positions = current_state.positions;
if (has_velocity_state_interface_)
{
state_publisher_->msg_.actual.velocities = current_state.velocities;
}
if (has_acceleration_state_interface_)
{
state_publisher_->msg_.actual.accelerations = current_state.accelerations;
}

if (read_commands_from_command_interfaces(command_current_))
{
state_publisher_->msg_.output = command_current_;
Expand Down
14 changes: 12 additions & 2 deletions joint_trajectory_controller/test/test_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -397,6 +397,7 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency)
EXPECT_EQ(n_joints, state->output.effort.size());
}
}

TEST_F(TrajectoryControllerTest, time_from_start_populated)
{
rclcpp::executors::SingleThreadedExecutor executor;
Expand All @@ -410,14 +411,23 @@ TEST_F(TrajectoryControllerTest, time_from_start_populated)
publish(tfs, {INITIAL_POS_JOINTS}, rclcpp::Time(0));
traj_controller_->wait_for_trajectory(executor);

updateController();
// update for 0.2s
updateController(rclcpp::Duration::from_seconds(0.2));
// give the publish timer one more spin
executor.spin_some();

auto state = getState();
ASSERT_TRUE(state);
// should be around 0.2s, but is 0.18s
EXPECT_EQ(state->reference.time_from_start.sec, 0u);
EXPECT_NEAR(state->reference.time_from_start.nanosec, 200000000u, 20000000u);
EXPECT_EQ(state->feedback.time_from_start.sec, 0u);
EXPECT_EQ(state->feedback.time_from_start.nanosec, 100000000u);
EXPECT_NEAR(state->feedback.time_from_start.nanosec, 200000000u, 20000000u);
// legacy
EXPECT_EQ(state->desired.time_from_start.sec, 0u);
EXPECT_NEAR(state->desired.time_from_start.nanosec, 200000000u, 20000000u);
EXPECT_EQ(state->actual.time_from_start.sec, 0u);
EXPECT_NEAR(state->actual.time_from_start.nanosec, 200000000u, 20000000u);
}

/**
Expand Down