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skip non-actuated joints for trajectory execution #753

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merged 2 commits into from Feb 14, 2018

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@rkeatin3
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commented Jan 30, 2018

Description

I have made two modifications for treatment of passive joints:

  1. They are no longer output as part of a trajectory for whichever group they belong to.
  2. They are no longer included in the joint list for the group's fake controller.

See Issue 640 for more information.

Checklist

  • Required: Code is auto formatted using clang-format
  • Extended the tutorials / documentation, if necessary reference

@rkeatin3 rkeatin3 changed the title Indigo devel Remove passive joints from trajectories Jan 30, 2018

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For Indigo I approve this PR. For Kinetic I suggest to exploit C++11 features to make the source less verbose.

@rhaschke rhaschke changed the title Remove passive joints from trajectories skip non-actuated joints for trajectory execution Jan 30, 2018

rhaschke added a commit to ubi-agni/moveit that referenced this pull request Jan 30, 2018

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commented Feb 9, 2018

@davetcoleman @v4hn Could someone please approve and merge this and #754? It's a tiny change.

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commented Feb 12, 2018

I like this change but will configurations of existing fake controllers already generated in the MSA throw an error if the passive/mimic/fixed joints are no longer included?

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commented Feb 12, 2018

@davetcoleman The fake controllers don't care about the joint list they received during setup. They simply forward the joint list received from a RobotTrajectory:
https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.cpp#L87
https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_plugins/moveit_fake_controller_manager/src/moveit_fake_controllers.cpp#L168

Hence, passive and mimic joints are no longer commanded by the fake controllers. However, joint_state_publisher takes care of computing mimic joints.

@rhaschke rhaschke merged commit 1f56289 into ros-planning:indigo-devel Feb 14, 2018

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rhaschke added a commit that referenced this pull request Feb 14, 2018

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