fix robot-moveit.l #252
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fix robot-moveit.l #252
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k-okada
commented
Nov 1, 2016
| (setq ret (send* self :angle-vector-make-trajectory av args)) | ||
| (when ret | ||
| (setq traj (send ret :trajectory :joint_trajectory)) | ||
| (when (< (send (send (car (last (send traj :points))) :time_from_start) :to-sec) 0.001) | ||
| (setq orig-total-time (send (send (car (last (send traj :points))) :time_from_start) :to-sec)) | ||
| (when (< orig-total-time 0.001) | ||
| (unless reset-total-time | ||
| (ros::ros-error "Trajectory has very short duration") | ||
| (return-from :angle-vector-motion-plan nil)) | ||
| (ros::ros-warn "reset Trajectory Total time") |
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@YoheiKakiuchi Do we need reset-total-time feature, if we have https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/252/files#diff-113ce1b47d7cec61152334f1050188c1R479 feature? which always try to scale planned trajectory to use setting 'tm' value?
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@YoheiKakiuchi, please review. This PR incldues several changes in robot motion