Fix Pilz blending times (backport #2961)#3000
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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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Cherry-pick of 4fad0d0 has failed: To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally |
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Codecov ReportAll modified and coverable lines are covered by tests ✅
❗ Your organization needs to install the Codecov GitHub app to enable full functionality. Additional details and impacted files@@ Coverage Diff @@
## humble #3000 +/- ##
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- Coverage 51.20% 51.15% -0.04%
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Files 382 382
Lines 31910 31902 -8
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- Hits 16335 16317 -18
- Misses 15575 15585 +10 ☔ View full report in Codecov by Sentry. |
stephanie-eng
approved these changes
Sep 14, 2024
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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
Checklist
This is an automatic backport of pull request #2961 done by [Mergify](https://mergify.com).