Add vel and acc scaling to computeCartesianPath in Humble#3048
Add vel and acc scaling to computeCartesianPath in Humble#3048liamcarlos wants to merge 1 commit intomoveit:humblefrom liamcarlos:patch-1
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…le branch move_group_interface.cpp I updated to Iron to get this capability but noticed Iron's EOL is Friday, so I thought I'd suggest this change for Humble since it has another couple years to EOL
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rhaschke
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I don't think, computeCartesianPath handles timing at all. It just computes path waypoints. Hence, forwarding the scaling factors does not change anything.
Did you observe any change?
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This appears to be a back port of #1968? But maybe is missing a line from that PR? And also depends on changes to moveit_msgs that haven't been back ported to humble either AFAICT? |
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This pull request is in conflict. Could you fix it @liamcarlos? |
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@rhaschke It does, I tested it with a UR10e in Iron. Those lines just seem to be missing from the Humble branch.. Also should I switch base back to humble branch? The bot threw me off.. |
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Please target the |
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As pointed out in #3048 (comment), your PR is missing another line from #1968. Moreover, the corresponding message fields are missing. Probably, those API changes are the reason, why this PR wasn't backported to Humble. |
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@rhaschke Yes I noticed that, I'm making that change right now! Thanks @mikeferguson ! Also found the srv file(GetCartesianPath.srv) that is missing those request fields. It's missing some other fields i.e. cartesian_speed_limited_link and max_cartesian_speed, but I don't know where those are being used.. I really just want to add velocity and acceleration control to the Humble branch since it will having longer support. |
Hi there,
I updated to Iron to get this capability but noticed Iron's EOL is Friday, so I thought I'd suggest this change for Humble since it has another couple years to EOL
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