Set rotation value of cartesian MaxEEFStep by default #2614
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v4hn
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Apr 20, 2021
moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
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Backport for melodic-devel.
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Backport for melodic-devel.
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Backport for melodic-devel.
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I was trying to plan a pure rotation today and noticed that
max_stepdid not apply to the rotation anymore. If the motion is a pure rotation,move_group.computeCartesianPath()returns no intermediate points. It looks like this bug was introduced when we addedCartesianInterpolator, which sets the rotation value ofMaxEEFStepto zero by default.This PR fixes the constructor of
MaxEEFStepand sets the rotation to a reasonable value if it is not set. I chose a value of 1 cm = 2 deg, but I would be fine with 1 cm = 1 deg as well.