[indigo] validate trajectory before execution#223
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davetcoleman wants to merge 2 commits intomoveit:indigo-develfrom
Closed
[indigo] validate trajectory before execution#223davetcoleman wants to merge 2 commits intomoveit:indigo-develfrom
davetcoleman wants to merge 2 commits intomoveit:indigo-develfrom
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* validate trajectory before execution * addressed review comments * moved validateTrajectory to TrajectoryExecutionManager * addressed @davetcoleman's comments * make allowed_start_tolerance dynamically configurable * addressed @v4hn's comments * moved validate to executeThread * allow_start_tolerance == 0 disables trajectory validation * moved validate to execute() * add validation test * increased default value for allowed_start_tolerance to 0.01
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Order looks good. |
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Cherry-picked #225 into Indigo. |
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Cherry-pick of #63
There was a merge conflict with
TrajectoryExecutionDynamicReconfigure.cfg, can someone verify I got the ordering correct for dyn reconfig?UPDATE: work in progress - has major API change that needs to be fixed