Reduced the minimum max velocity joint limit from 0.01 to 0.001 for totg

[grejj]

Description

Currently the minimum value you can specify for the the max velocity outputted for a joint during time optimal trajectory parameterization is 0.01 rad/s or m/s. For joints that are unable to move that fast and whose velocity limits are less than 0.01, the planned path outputted is unachievable with trajectory velocities being higher than the maximum velocity of the joint.

Reduced the value to 0.001.

[AndyZe]

@grejj I think this is a good change but do we even need a minimum. It looks to me like throwing an error might be better like this:

  if (max_acceleration_[j] <= 0)
  {
    ROS_ERROR_NAMED(LOGNAME, "Max acceleration must be greater than zero.");
    return false;
}

[codecov]

Codecov Report

Merging #2937 (934894d) into master (d1465a7) will increase coverage by 0.05%.
The diff coverage is 0.00%.

❗ Current head 934894d differs from pull request most recent head 7642c16. Consider uploading reports for the commit 7642c16 to get more accurate results

@@            Coverage Diff             @@
##           master    #2937      +/-   ##
==========================================
+ Coverage   61.73%   61.78%   +0.05%     
==========================================
  Files         373      373              
  Lines       33425    33429       +4     
==========================================
+ Hits        20632    20651      +19     
+ Misses      12793    12778      -15     

Impacted Files	Coverage Δ
...cessing/src/time_optimal_trajectory_generation.cpp	76.07% <0.00%> (-0.59%)	⬇️
...raint_samplers/src/default_constraint_samplers.cpp	79.60% <0.00%> (-0.28%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.93% <0.00%> (-0.12%)	⬇️
moveit_core/robot_model/src/joint_model_group.cpp	64.15% <0.00%> (+2.28%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	74.39% <0.00%> (+2.48%)	⬆️
...e/src/parameterization/model_based_state_space.cpp	72.68% <0.00%> (+3.11%)	⬆️
...eit_ros/manipulation/pick_place/src/pick_place.cpp	92.39% <0.00%> (+3.81%)	⬆️

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[v4hn]

Thanks for creating the PR after our brief discussion on Discord!
I agree with @AndyZe.
@grejj Could you modify your patch to make the parameterization fail when values less-equal 0 are encountered in velocity or acceleration bounds? This will also give users clear feedback when they use configurations with has_*_limits: true without specifying an actual limit.

[AndyZe]

LGTM.

[rhaschke]

@grejj, please apply the suggested formatting changes. Ideally, install https://pre-commit.com to catch these at commit time.

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!