Update error message for duplicated joint name

Yaskawa-Global · Sep 27, 2023 · f1571cc · f1571cc
1 parent 6f27df7
commit f1571cc
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/ActionServer_FJT.c b/src/ActionServer_FJT.c
@@ -320,6 +320,10 @@ rcl_ret_t Ros_ActionServer_FJT_Goal_Received(rclc_action_goal_handle_t* goal_han
                 rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
                     "The final point in the trajectory must have zero acceleration.");
                 break;
+            case INIT_TRAJ_DUPLICATE_JOINT_NAME:
+                rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
+                    "The trajectory contains duplicate joint names.");
+                break;
             default:
                 rosidl_runtime_c__String__assign(&fjt_result_response.result.error_string,
                     "Trajectory initialization failed. Generic failure.");