TOTG hangs forever if vel/accel scaling is invalid (0 or a very tiny number)

Open AndyZe opened this issue 2 years ago • 2 comments

Description

Prob should throw an error if vel/accel scaling is too small.

Jun 15 '23 18:06 AndyZe

+1 We just encountered the same issue but for us, it results in moveit eating up all the RAM and then crashing since the trajectory tries to create 47 million steps with a full robot state for each.

Also, the default action goal sets the parameter to 0 at least for us in python, so this is the default behavior.

Jul 31 '23 13:07 StefanFabian

We did not have this problem a few months ago, so the default behavior of the action interface might have changed in the latest rework of TOTG (4aeccc712293577e64918c0bb185ef8c38eeed84, 6b6de9e8aea197d80124ba44360a714bcb106249). Likely, more users are running into this problem now.

Jul 31 '23 14:07 Martin-Oehler