TEM: fix check for start state position

[v4hn]

distance() respects unlimited revolute joints

Addresses an issue pointed out in #694 .

[codecov]

Codecov Report

Merging #2157 into master will decrease coverage by 0.35%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #2157      +/-   ##
==========================================
- Coverage   58.27%   57.92%   -0.36%     
==========================================
  Files         327      327              
  Lines       24707    25640     +933     
==========================================
+ Hits        14399    14853     +454     
- Misses      10308    10787     +479     

Impacted Files	Coverage Δ
...ution_manager/src/trajectory_execution_manager.cpp	47.75% <100.00%> (ø)
.../move_group_interface/src/move_group_interface.cpp	48.07% <0.00%> (-51.93%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	70.10% <0.00%> (-0.15%)	⬇️
...veit_experimental/moveit_jog_arm/src/jog_calcs.cpp	71.35% <0.00%> (+0.25%)	⬆️
...moveit/move_group_interface/move_group_interface.h	60.00% <0.00%> (+2.10%)	⬆️
.../ompl_interface/src/detail/constrained_sampler.cpp	64.10% <0.00%> (+17.94%)	⬆️

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[mamoll]

Looks good to me. I am kind of surprised this has gone unnoticed for so long.

[v4hn]

On Wed, Jun 24, 2020 at 09:35:35AM -0700, Mark Moll wrote: Looks good to me. I am kind of surprised this has gone unnoticed for so long.

Well, it *is* a damn unlikely edge case to have a - continuous joint - start planning from its range edge - have noise move the joint to the other side in the meanwhile Thanks for merging. We should look through backports again soon and merge this also back to `kinetic-devel`, as requested by the reporting user.