Roelof Oomen
Roelof Oomen
@marip8, friendly ping. Did you manage to work on this?
For reference: debugging ROS 2 code with Ubuntu 22.04 and the default GDB 12.1 was painfully slow, but with GBD 13.1 performance is quite good.
Also: https://github.com/tesseract-robotics/tesseract_ros2/pull/45
Sure, I was just trying to fix the todo. How exactly do you suggest I do that? And does that only apply to the Cartesian waypoints or also to the...
How about this? (I am unsure about how to handle the [state waypoint](https://github.com/rjoomen/tesseract_planning/blob/cffb81493e545fac24967b7d2ce6df469d433219/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp#L310C23-L310C23) type, btw, should that be the same way as joint?)
> Does this change mean that if we have a fully constrained Cartesian waypoint and a seed joint state for that waypoint the output will always be equivalent to the...
I went ahead and removed the fixed cartesian waypoint logic. Now this PR only fixes [this](https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp#L288C32-L288C32) and [this](https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp#L313) todo. Now how should [state waypoints](https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp#L308) be handled?
> State waypoints should be treated as fixed joint state. But the todo suggests to not make them fixed if they are cost instead of constraint.
Meanwhile there are more changes, also to TOTG, see [here](https://github.com/ros-planning/moveit2/commits/main/moveit_core/trajectory_processing) for the complete history.