Bug fix: JointTrajectoryAction (Rebased bug fix from Feb5) #86
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| @@ -63,11 +64,7 @@ JointTrajectoryAction::JointTrajectoryAction() : | |||
| // A parameter named topics_list contains the respective information for each of the groups | |||
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| std::string value; | |||
| if(!ros::param::search("topics_list", value)) | |||
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This error message helps people when the "topics_list" parameter cannot be found. Was it removed for a reason?
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It might have been removed for debugging reasons. It is safe to bring it back.
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Can you do this? I think you might need to rebase this PR on the current version of indigo-devel.
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@psarakisz89, sorry it took me so long to review. I had a few comments (see above). I'm also hoping you could walk me through this change. I do not have access to a dual arm system, so it is hard for me to review these changes. I also don't believe it's possible to "simulate" the robot (let me know if I am incorrect). |
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@shaun-edwards, I will help you as much as I can with the change and reviewing the changes! We have a dual arm manipulator available and if needed I can test something on it. I guess what you are asking about the "simulation" of the robot is, if it is possible to simulate the control box and the real robot's behavior. I guess you can try it but there is a limit on how much accuracy a simulation will have. Even with a "perfect" simulator you may miss something! |
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@psarakisz89, my question regarding simulation was whether there is a way simulate the multi-group nodes below the |
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@psarakisz89, are you able to address the comments above? Also, could you rebase your code. Some recent changes to the |
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Hello Shaun. I am currently away from the lab. I will address the issues as soon as possible. Sorry for the delay. |
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We're going to merge this in, but as part of #259. There were outstanding issues with this PR, which @shaun-edwards identified, but were never fixed. So closing this one. Thanks @psarakisz89 for the initial PR. |
JointTrajectoryAction can now handle correctly cases where a single trajectory containing all robots (2 arms 2 torsos) of motoman is used.
Before this fix the state of the robot changed at "LOST" after some seconds and the trajectory was aborted.