tingelst / etasl_ros_control Goto Github PK

Once in a while, the controller stops during execution with the error
void KDL::qpOASESSolver::fillConstraintScalar(const KDL::ConstraintScalar&): Assertion (0<=cnr)&&(cnr<nc) failed
in
etasl/src/expressiongraph_solver_qpoases/src/qpoases_solver.cpp:116

This happens during a new initiation of the controller, after changing the context by:
this->stopRequest(ros::Time::now());
etasl_->activate_cmd("something");
this->startRequest(ros::Time::now());