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Merged
merged 1 commit into from
Oct 3, 2025
Merged

Rename shadowed variables #37

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4 changes: 2 additions & 2 deletions ...ace/include/joint_state_topic_hardware_interface/joint_state_topic_hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,8 +67,8 @@ class JointStateTopicSystem : public hardware_interface::SystemInterface
std::vector<MimicJoint> mimic_joints_;

/// The size of this vector is (standard_interfaces_.size() x nr_joints)
std::vector<std::vector<double>> joint_commands_;
std::vector<std::vector<double>> joint_states_;
std::vector<std::vector<double>> joint_command_values_;
std::vector<std::vector<double>> joint_state_values_;

// If the difference between the current joint state and joint command is less than this value,
// the joint command will not be published.
Expand Down
38 changes: 19 additions & 19 deletions joint_state_topic_hardware_interface/src/joint_state_topic_hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,12 +55,12 @@ CallbackReturn JointStateTopicSystem::on_init(const hardware_interface::Hardware
}

// Initialize storage for all joints' standard interfaces, regardless of their existence and set all values to nan
joint_commands_.resize(standard_interfaces_.size());
joint_states_.resize(standard_interfaces_.size());
joint_command_values_.resize(standard_interfaces_.size());
joint_state_values_.resize(standard_interfaces_.size());
for (auto i = 0u; i < standard_interfaces_.size(); i++)
{
joint_commands_[i].resize(get_hardware_info().joints.size(), 0.0);
joint_states_[i].resize(get_hardware_info().joints.size(), 0.0);
joint_command_values_[i].resize(get_hardware_info().joints.size(), 0.0);
joint_state_values_[i].resize(get_hardware_info().joints.size(), 0.0);
}

// Initial command values
Expand All @@ -77,8 +77,8 @@ CallbackReturn JointStateTopicSystem::on_init(const hardware_interface::Hardware
// Check the initial_value param is used
if (!interface.initial_value.empty())
{
joint_states_[index][i] = std::stod(interface.initial_value);
joint_commands_[index][i] = std::stod(interface.initial_value);
joint_state_values_[index][i] = std::stod(interface.initial_value);
joint_command_values_[index][i] = std::stod(interface.initial_value);
}
}
}
Expand Down Expand Up @@ -134,7 +134,7 @@ CallbackReturn JointStateTopicSystem::on_init(const hardware_interface::Hardware
[this](const sensor_msgs::msg::JointState::SharedPtr joint_state) { latest_joint_state_ = *joint_state; });

// if the values on the `joint_states_topic` are wrapped between -2*pi and 2*pi (like they are in Isaac Sim)
// sum the total joint rotation returned on the `joint_states_` interface
// sum the total joint rotation returned on the `joint_state_values_` interface
if (get_hardware_parameter("sum_wrapped_joint_states", "false") == "true")
{
sum_wrapped_joint_states_ = true;
Expand All @@ -154,7 +154,7 @@ std::vector<hardware_interface::StateInterface> JointStateTopicSystem::export_st
for (const auto& interface : joint.state_interfaces)
{
// Add interface: if not in the standard list then use "other" interface list
if (!getInterface(joint.name, interface.name, i, joint_states_, state_interfaces))
if (!getInterface(joint.name, interface.name, i, joint_state_values_, state_interfaces))
{
throw std::runtime_error("Interface is not found in the standard list.");
}
Expand All @@ -174,7 +174,7 @@ std::vector<hardware_interface::CommandInterface> JointStateTopicSystem::export_
const auto& joint = get_hardware_info().joints[i];
for (const auto& interface : joint.command_interfaces)
{
if (!getInterface(joint.name, interface.name, i, joint_commands_, command_interfaces))
if (!getInterface(joint.name, interface.name, i, joint_command_values_, command_interfaces))
{
throw std::runtime_error("Interface is not found in the standard list.");
}
Expand All @@ -198,26 +198,26 @@ hardware_interface::return_type JointStateTopicSystem::read(const rclcpp::Time&
auto j = static_cast<std::size_t>(std::distance(joints.begin(), it));
if (sum_wrapped_joint_states_)
{
sumRotationFromMinus2PiTo2Pi(latest_joint_state_.position[i], joint_states_[POSITION_INTERFACE_INDEX][j]);
sumRotationFromMinus2PiTo2Pi(latest_joint_state_.position[i], joint_state_values_[POSITION_INTERFACE_INDEX][j]);
}
else
{
joint_states_[POSITION_INTERFACE_INDEX][j] = latest_joint_state_.position[i];
joint_state_values_[POSITION_INTERFACE_INDEX][j] = latest_joint_state_.position[i];
}
if (!latest_joint_state_.velocity.empty())
{
joint_states_[VELOCITY_INTERFACE_INDEX][j] = latest_joint_state_.velocity[i];
joint_state_values_[VELOCITY_INTERFACE_INDEX][j] = latest_joint_state_.velocity[i];
}
if (!latest_joint_state_.effort.empty())
{
joint_states_[EFFORT_INTERFACE_INDEX][j] = latest_joint_state_.effort[i];
joint_state_values_[EFFORT_INTERFACE_INDEX][j] = latest_joint_state_.effort[i];
}
}
}

for (const auto& mimic_joint : mimic_joints_)
{
for (auto& joint_state : joint_states_)
for (auto& joint_state : joint_state_values_)
{
joint_state[mimic_joint.joint_index] = mimic_joint.multiplier * joint_state[mimic_joint.mimicked_joint_index];
}
Expand Down Expand Up @@ -247,8 +247,8 @@ hardware_interface::return_type JointStateTopicSystem::write(const rclcpp::Time&
// To avoid spamming TopicBased's joint command topic we check the difference between the joint states and
// the current joint commands, if it's smaller than a threshold we don't publish it.
const auto diff = std::transform_reduce(
joint_states_[POSITION_INTERFACE_INDEX].cbegin(), joint_states_[POSITION_INTERFACE_INDEX].cend(),
joint_commands_[POSITION_INTERFACE_INDEX].cbegin(), 0.0,
joint_state_values_[POSITION_INTERFACE_INDEX].cbegin(), joint_state_values_[POSITION_INTERFACE_INDEX].cend(),
joint_command_values_[POSITION_INTERFACE_INDEX].cbegin(), 0.0,
[](const auto d1, const auto d2) { return std::abs(d1) + std::abs(d2); }, std::minus<double>{});
if (diff <= trigger_joint_command_threshold_)
{
Expand All @@ -265,15 +265,15 @@ hardware_interface::return_type JointStateTopicSystem::write(const rclcpp::Time&
{
if (interface.name == hardware_interface::HW_IF_POSITION)
{
joint_state.position.push_back(joint_commands_[POSITION_INTERFACE_INDEX][i]);
joint_state.position.push_back(joint_command_values_[POSITION_INTERFACE_INDEX][i]);
}
else if (interface.name == hardware_interface::HW_IF_VELOCITY)
{
joint_state.velocity.push_back(joint_commands_[VELOCITY_INTERFACE_INDEX][i]);
joint_state.velocity.push_back(joint_command_values_[VELOCITY_INTERFACE_INDEX][i]);
}
else if (interface.name == hardware_interface::HW_IF_EFFORT)
{
joint_state.effort.push_back(joint_commands_[EFFORT_INTERFACE_INDEX][i]);
joint_state.effort.push_back(joint_command_values_[EFFORT_INTERFACE_INDEX][i]);
}
else
{
Expand Down
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