Bug fixes in main branch #362
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@@ Coverage Diff @@
## main #362 +/- ##
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+ Coverage 53.23% 53.24% +0.01%
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Files 209 209
Lines 18856 18849 -7
==========================================
- Hits 10037 10034 -3
+ Misses 8819 8815 -4
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JafarAbdi
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| @@ -258,27 +255,24 @@ void RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::msg::RobotTrajectory& t | |||
| if (!onedof.empty()) | |||
| { | |||
| trajectory.joint_trajectory.header.frame_id = robot_model_->getModelFrame(); | |||
| trajectory.joint_trajectory.header.stamp = stamp; | |||
| trajectory.joint_trajectory.header.stamp = rclcpp::Time(0, 0, RCL_ROS_TIME); | |||
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Looking at the documentation for rclcpp::Time, it looks like the default is RCL_SYSTEM_TIME. What's the reason for something different here?
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RCL_ROS_TIME is default for node time as it should be able to support simulation and is therefore mostly used for messages. It's also the equivalent for the old ros::Time while system time uses the system clock directly. See https://design.ros2.org/articles/clock_and_time.html for background on time sources.
some mentioned ~/ws_moveit2/ and some ~/ws_moveit/
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