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Document StateHold hold position threshold ROS 2 parameters - #30
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Add hold_first_check_position_threshold and hold_position_threshold to the shared controller parameter tables, matching StateHold.cpp and auto_declare sites on BasicJointController and Ocs2ArmController. Co-authored-by: HUANG ZHENBIAO <legubiao@users.noreply.github.com>
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Add the two missing HOLD joint-position thresholds to the Sphinx controller / ROS 2 parameter docs (English source + zh_CN gettext).
What landed
hold_first_check_position_thresholdandhold_position_threshold.StateHold::updateParam()re-reads both keys on HOLD enter and each HOLDrun(get_parameter), same pattern as Home / MoveJ.Source (not invented)
Verified at arms_ros2_control pin
9a1da3ba:libraries/arms_controller_common/src/FSM/StateHold.cpp(and header comments: radians;≤ 0disables the corresponding check).auto_declare(..., 0.1)inBasicJointController.cppandOcs2ArmController.cpp.Units are radians (absolute joint-position difference). On HOLD enter, targets start as last-sent commands. The first-check key is used only once after enter (retarget to measured positions if any joint exceeds it, to avoid a startup jump;
≤ 0skips). After that,hold_position_thresholdretargets for safety if the error exceeds it (≤ 0disables automatic adjustment).These two keys are not in the #120 common README Home / MoveJ tables; names and defaults come from
auto_declareat the pin.ocs2_wbc_controlleris a private submodule and was not readable here, so this PR does not list WBC declare sites. After access, that package README remains the WBC parameter list.Checks
make html/make html-zh_CNpython3 scripts/check_zh_coverage.py --threshold 95(100%)python3 scripts/check_zh_mix.pyand HTML passReady for review; please merge when satisfied.