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Published 20 hours ago • verified publisher icon ros-planning

CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints

Open chama1176 opened this issue 7 months ago • 2 comments

Description

CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints

Your environment

  • ROS Distro: Jazzy
  • OS Version: e.g. Ubuntu 24.04
  • Binary build 2.10.0

Steps to reproduce

  • Set the initial posture of the actual robot to a position beyond the urdf limit.
  • Press “plan” button in rviz to plan the trajectory.

Expected behaviour

CheckStartStateBounds is not SUCCESS. And fixed to joint limit in case fix_start_state is true.

Actual behaviour

CheckStartStateBounds is SUCCESS.

Details

In https://github.com/moveit/moveit2/pull/2429, CheckStartStateBounds is refactored. The logic has also been changed so that the check is skipped for non-infinite rotation joints, which are used in most arm joints.

https://github.com/moveit/moveit2/blob/a7fe0df4c565db15710581bdcba1d33d70aa0ddb/moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp#L105-L120

chama1176 avatar Jul 22 '24 04:07 chama1176