Fix Pilz blending times... the right way#2961
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sea-bass
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Aug 10, 2024
moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
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@ct2034 want to give this a sanity check? (or maybe it's been too long...) |
stephanie-eng
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Aug 10, 2024
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LGTM!
Could you verify that this prevents the duplicate timestamp issue you saw in the tutorial? I could never reproduce it for whatever reason, so would be good to know if it works for you.
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Oh, it for sure resolves this issue. It's how I've been testing it. In fact, the previous PR squashed duplicate time points, but this one actually handles it correctly and ensures the two points are spaced accordingly. |
rhaschke
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Aug 11, 2024
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* Fix Pilz blending times... the right way * Remove more debugs * Format (cherry picked from commit 4fad0d0) # Conflicts: # moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp # moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
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* Fix Pilz blending times... the right way * Remove more debugs * Format (cherry picked from commit 4fad0d0) # Conflicts: # moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp # moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
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sea-bass
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Description
Found the issue!
Turns out that Pilz's
appendWithStrictTimeIncrease()function had a single if-statement that encompassed two conditions:In both cases, the whole trajectory segment was appended with a
dt=0.The problem is that in case 1, it's appropriate to add a
dt=0(as the trajectory is empty, the first point should be att=0). In case 2, we needed to apply a non-zero sample time offset dictated by the actualdtof that trajectory's first waypoint.Closes #2945
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