Enforce singularity threshold when moving away from a singularity (backport #620)#1649
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Enforce singularity threshold when moving away from a singularity (backport #620)#1649
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* Enforce singularity threshold behavior even when moving away from a singularity - Prevent uncontrolled behavior when servo starts close to a singularity and then servos away from it - Scale velocity at a different rate when approaching/leaving singularity - Add status code to distinguish between velocity scaling when moving towards/away from the singularity * Work on expanding servo singularity tests * Pre-commit * removed duplicate input checking * added 2 other tests * undid changes to singularity test * Update moveit_ros/moveit_servo/src/servo_calcs.cpp with Nathan's suggestion Co-authored-by: Nathan Brooks <nbbrooks@gmail.com> * readability changes and additional servo parameter check * updating to newest design * added warning message * added missing semicolon * made optional parameter nicer * Remove outdated warning Co-authored-by: AndyZe <andyz@utexas.edu> * Removing inaccurate comment Co-authored-by: AndyZe <andyz@utexas.edu> * making Andy's suggested changes, added some comments and defaults, moved code block next to relevant singularity code * removed part of comment that does not apply any more * Mention "deprecation" in the warning Co-authored-by: Henry Moore <henrygerardmoore@gmail.com> Co-authored-by: Henry Moore <44307180+henrygerardmoore@users.noreply.github.com> Co-authored-by: AndyZe <zelenak@picknik.ai> Co-authored-by: AndyZe <andyz@utexas.edu> (cherry picked from commit d4b3294)
Codecov ReportBase: 51.03% // Head: 51.03% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## humble #1649 +/- ##
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+ Coverage 51.03% 51.03% +0.01%
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Files 381 381
Lines 31787 31805 +18
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+ Hits 16218 16228 +10
- Misses 15569 15577 +8
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tylerjw
approved these changes
Oct 28, 2022
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This is an automatic backport of pull request #620 done by Mergify.
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