From 12f1199395d6492a85c53c270dac6be55a5d9028 Mon Sep 17 00:00:00 2001
From: Toru Kuga <toru_kuga@yanmar.com>
Date: Mon, 16 Aug 2021 12:56:16 +0900
Subject: [PATCH] code fix on wrong substitution

---
 moveit_core/kinematic_constraints/src/utils.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
index 417791d596..cc10209ba9 100644
--- a/moveit_core/kinematic_constraints/src/utils.cpp
+++ b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -145,8 +145,8 @@ moveit_msgs::Constraints constructGoalConstraints(const moveit::core::RobotState
   {
     goal.joint_constraints[i].joint_name = jmg->getVariableNames()[i];
     goal.joint_constraints[i].position = vals[i];
-    goal.joint_constraints[i].tolerance_above = tolerance_below;
-    goal.joint_constraints[i].tolerance_below = tolerance_above;
+    goal.joint_constraints[i].tolerance_above = tolerance_above;
+    goal.joint_constraints[i].tolerance_below = tolerance_below;
     goal.joint_constraints[i].weight = 1.0;
   }