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fix(gantry): ignore [ / ] rope adjustment when gantry is disabled #6

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Merged
lgulich merged 1 commit into from
Apr 28, 2026
Merged

fix(gantry): ignore [ / ] rope adjustment when gantry is disabled #6

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4 changes: 2 additions & 2 deletions mujoco_ros2_control_plugins/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,8 @@ attachment position.
| Key | Action |
|---|---|
| `G` | Toggle gantry on / off. Re-enabling re-anchors above the current attachment position |
| `[` | Shorten rope by 0.5 cm |
| `]` | Lengthen rope by 0.5 cm |
| `[` | Shorten rope by 0.5 cm *(ignored with a warning when gantry is disabled)* |
| `]` | Lengthen rope by 0.5 cm *(ignored with a warning when gantry is disabled)* |

#### ROS 2 interface

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11 changes: 9 additions & 2 deletions mujoco_ros2_control_plugins/src/virtual_gantry_plugin.cpp
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Expand Up @@ -119,8 +119,15 @@ void VirtualGantryPlugin::update(const mjModel* /*model*/, mjData* data)
const int scroll_ticks = rope_length_ticks_.exchange(0, std::memory_order_acquire);
if (scroll_ticks != 0)
{
rope_length_ = std::max(0.1, rope_length_ + scroll_ticks * 0.005);
RCLCPP_INFO(node_->get_logger(), "VirtualGantryPlugin: rope_length=%.3f m", rope_length_);
if (enabled_)
{
rope_length_ = std::max(0.1, rope_length_ + scroll_ticks * 0.005);
RCLCPP_INFO(node_->get_logger(), "VirtualGantryPlugin: rope_length=%.3f m", rope_length_);
}
else
{
RCLCPP_WARN(node_->get_logger(), "VirtualGantryPlugin: gantry disabled — rope length unchanged");
}
}

// --- Compute attachment point in world frame ------------------------------
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