Fix constraint tolerance assignment (moveit#622)

Forward port of moveit/moveit#2815
tylerjw · Aug 27, 2021 · b953422 · b953422
1 parent f3442a6
commit b953422
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -155,8 +155,8 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const moveit::core::Robot
   {
     goal.joint_constraints[i].joint_name = jmg->getVariableNames()[i];
     goal.joint_constraints[i].position = vals[i];
-    goal.joint_constraints[i].tolerance_above = tolerance_below;
-    goal.joint_constraints[i].tolerance_below = tolerance_above;
+    goal.joint_constraints[i].tolerance_above = tolerance_above;
+    goal.joint_constraints[i].tolerance_below = tolerance_below;
     goal.joint_constraints[i].weight = 1.0;
   }