Enforce joint position limits on internal joint state before making trajectory #13
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JafarAbdi
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Jun 25, 2021
… and a joint is close to position limit (moveit#497) * moveit_servo: Fix segfault when publish_joint_velocities set to false and a joint is close to position limit * Enforce joint position limits on internal joint state before making trajectory (#13) * Use the input joint state to check bounds Co-authored-by: AdamPettinger <adam.pettinger@utexas.edu>
JafarAbdi
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Jun 28, 2021
… and a joint is close to position limit (moveit#497) * moveit_servo: Fix segfault when publish_joint_velocities set to false and a joint is close to position limit * Enforce joint position limits on internal joint state before making trajectory (#13) * Use the input joint state to check bounds Co-authored-by: AdamPettinger <adam.pettinger@utexas.edu>
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Description
This switchs the order that
composeJointTrajMessageandenforcePositionLimitsis called so thatenforcePositionLimitsworks on a JointState and uses internal_joint_state_ which holds position and velocity information regardless of what should be published. Previously: it was operating on the JointTrajectory and had to take publishing booleans into considerationTested locally, including being able to back away from joint position limit. Shameless plug for new Servo tutorial which includes using a keyboard as input (how I tested the joint limits)