Fix :angle-vector-make-trajectory to ignore start-offset-time #365
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…or-sequence-motion-plan
Without this fix, traj points having the same time_from_start appear. This may harm joint trajectory action server.
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MERGE AFTER #361 and #363All dependencies are merged.(This PR includes the commits of #361 and #363 )
Include #375
start-offset-timeshould only affect time stamp of trajectory, which is set in:send-trajectory.We don't need to use it in
:angle-vector-make-trajectory.When sending list of angle-vector having non-zero
start-offset-timewith:angle-vector-motion-plan, total time of trajectory becomes more thantotal-time.This bug becomes caught by 69ec3ad.This bug becomes caught by Add test for start-offset-time with avs #375 and this PR is rebased on that.
See commit messages for other information.
Minor but important fix
init-poseintest-angle-vector-sequence-motion-planbecause usingreset-manip-posemoves torso a lot and very slowstart-offset-timein tests