Bot travels to the origin pose in compute_cartesian_path() while using MoveIt Python API #3657
Description
Description
After the new changes in this PR(#3618), I am observing some weird motion while using the compute_cartesian_path(), where the bot travels back to the origin pose after reaching each of the waypoint pose
Your environment
- ROS Distro: Noetic
- OS Version: Ubuntu 20.04
- Build: Binary
- Release Version: 1.1.15-1focal.20240914.082856
Expected behaviour
The bot should travel from one waypoint to the next and complete the whole sequence of motion
cartesian_plan_before.mp4
Actual behaviour
The bot goes to the first waypoint, then returns to its pose before starting the cartesian plan execution, then goes to the second waypoint, returns back etc.