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Fix runtime issues #1
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Extends error message to print invalid joint names. Adds max_velocity as parameter descriptor in error message.
We observed that the accept failed nondeterministically in rare cases.
Zagitta
suggested changes
Jul 21, 2017
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Looks very good, thank you very much for taking the time to not only test the code but also submit fixes.
My only issue is the use of ROS_ERROR_STREAM instead of LOG_ERROR, eventually I'll get around to refactoring the logging code to use the C++ stream interface however for now I'd prefer to keep the same style everywhere.
So if you fix that minor issue I'll merge it ASAP.
Best regards, Simon.
Zagitta
approved these changes
Jul 24, 2017
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Thank you very much for your contribution, let me know if you run into any other issues. |
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We tested the refactored code on our UR5 robot running polyscope 3.0.15547 and found these shortcomings in the progress.
Please have a look at the commit messages for details.
With these modifications we can operate the robot smoothly and as a drop in replacement to the previous code.
Please note that we do not use the ros control interface though.