control_layer: skip controllers whose ControlSignal size mismatches t… - #328
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valerio98-lab wants to merge 1 commit into
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control_layer: skip controllers whose ControlSignal size mismatches t…#328valerio98-lab wants to merge 1 commit into
valerio98-lab wants to merge 1 commit into
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…he robot The gather loop was bounded by the controller's message size but wrote into an accumulator sized from pRobot->getNJOINTS(). A controller publishing more torques than the robot has joints wrote out of bounds, at 1 kHz, inside the SCHED_DEADLINE thread, with no error raised. Mismatching controllers are now skipped rather than truncated - contributing torques to part of a legged robot is worse than contributing none - and logged once each. std::min is kept on the loop as a backstop.
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The gather loop was bounded by the controller's message size but wrote into an accumulator sized from pRobot->getNJOINTS(). A controller publishing more torques than the robot has joints wrote out of bounds, at 1 kHz, inside the SCHED_DEADLINE thread, with no error raised.
Mismatching controllers are now skipped rather than truncated and logged once each. std::min is kept on the loop as a backstop.