Just print a warning

moveit · Dec 13, 2022 · cc2bcf7 · cc2bcf7
1 parent fb0cc36
commit cc2bcf7
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -1098,8 +1098,7 @@ bool TimeOptimalTrajectoryGeneration::doTimeParameterizationCalculations(robot_t
 
   if (!checkMixedUnits(group))
   {
-    RCLCPP_ERROR(LOGGER, "TOTG cannot process a combination of revolute and prismatic joints");
-    return false;
+    RCLCPP_WARN(LOGGER, "There is a combination of revolute and prismatic joints in the robot model. TOTG's `path_tolerance` will not function correctly.");
   }
 
   const unsigned num_points = trajectory.getWayPointCount();