Deduplicate joint trajectory points in Pilz Move Group Sequence capability#2943
Merged
Deduplicate joint trajectory points in Pilz Move Group Sequence capability#2943
Conversation
stephanie-eng
approved these changes
Aug 2, 2024
Contributor
stephanie-eng
left a comment
There was a problem hiding this comment.
I don't entirely agree that we should fix this at this level, but I'd be loathe to let perfect be the enemy of the good here, and a band aid fix is better than broken.
Could you add a comment or a TODO note specifically calling this out, though, such that in the future, if the duplicate points issue is "properly" addressed, it's clear that this de-duplicate step can be removed?
sea-bass
commented
Aug 2, 2024
moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
Show resolved
Hide resolved
stephanie-eng
approved these changes
Aug 2, 2024
sjahr
approved these changes
Aug 2, 2024
sjahr
pushed a commit
that referenced
this pull request
Aug 2, 2024
…ility (#2943) * Deduplicate joint trajectory points before sending them to controllers * Fix max loop value * Move deduplication code to Pilz * Clean up * Add todo
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
I was unable to test moveit/moveit2_tutorials#917 successfully on Rolling/main because there was an issue with sending duplicate time points to joint trajectory controllers with the Pilz move group sequence capability.
This PR fixes that, but I am not entirely sure this is the most efficient fix, as it would be preferable to package the trajectory correctly in the first place. But... this works.
Checklist
Closes #2741