Check for duplicated joint names in a trajectory

[ted-miller]

Fixes #28
Not yet tested due to https://github.com/Yaskawa-Global/micro_ros_motoplus/issues/132

[ted-miller]

Tested and working

[gavanderhoorn]

msbuild CI is failing due to something I introduced in #158.

I'll add a commit to this PR to fix it.

---

Edit: I fixed it in #164.

[gavanderhoorn]

Actually: could you try rebasing on main @ted-miller?

[ted-miller]

ignore that.

[ted-miller]

Ok. Now I think it'll work

[gavanderhoorn]

I've rebased this branch to include the fix from #164.

[gavanderhoorn]

I can't test this right now, but you have.

@ted-miller: could you maybe describe how you tested it?

[ted-miller]

Using my FJT script, I duplicated the first axis joint name on the second axis.
When I run the script, the robot returns the 214 error code with the error message.
The robot did not attempt to move.

[gavanderhoorn]

Using my FJT script, I duplicated the first axis joint name on the second axis. When I run the script, the robot returns the 214 error code with the error message. The robot did not attempt to move.

might want to check also with a joint at index != 0.

[gavanderhoorn]

Updated version looks OK.

If you could test with repeated joint names at indices other than 0, this can be merged.

[ted-miller]

Tested again:

'group_1/joint_1',
'group_1/joint_2',
'group_1/joint_3',
'group_1/joint_4',
'group_1/joint_5',
'group_1/joint_6',

'group_2/joint_1',
'group_2/joint_2',
**'group_1/joint_3'**,
'group_2/joint_4',
'group_2/joint_5',
'group_2/joint_6',

'group_3/joint_1'

Client:

control_msgs.action.FollowJointTrajectory_Result(error_code=-100214, error_string='The trajectory contains duplicate joint names.')

Debug Log:

[1696258937.30257201] [192.168.1.32:58802]: 2023-10-02 15:02:17.301923 Trajectory contains 61 points
[1696258937.30277658] [192.168.1.32:58802]: 2023-10-02 15:02:17.302123 Joint name [group_1/joint_3] is used for multiple joints in the trajectory (indices: 2 and 8).
[1696258937.30299282] [192.168.1.32:58802]: 2023-10-02 15:02:17.302323 FollowJointTrajectory - Goal request rejected
[1696258937.30308771] [192.168.1.32:58802]: 2023-10-02 15:02:17.302323 The trajectory will be accepted and then immediately aborted
[1696258937.30314612] [192.168.1.32:58802]: 2023-10-02 15:02:17.302323 The trajectory contains duplicate joint names.

[gavanderhoorn]

off-topic, but: what's up with the output of your debug logger?

It's not supposed to look like that any more since #129 and some older PRs.

[ted-miller]

I've got an old copy of the script in my home directory for convenience. I just haven't updated on my ubuntu machine.

[gavanderhoorn]

You could use a symlink and place it in $HOME/bin. That would avoid the copy and always keep it up-to-date.