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Issue 233-outside goal tolerance #241
Issue 233-outside goal tolerance #241
Commits on May 14, 2024
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fix parsing of goal_tolerance entries in goal
Don't assume all joints have associated tolerances, and deal with potentially out-of-order tolerance specifications (compared to order of joints MotoROS2 uses internally).
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refactor: make parsing stand-alone functions
Easier to test and potentially to reuse.
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always set default joint position tolerances
Not just when there are no JointTolerance instances.
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add tests for Parse_GoalPosTolerance(..)
Note: they are appended to the main ActionServer_FJT source file as the function(s) tested are local to that compilation unit (ie: static).
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They're not needed outside this compilation unit.
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verify out array is of sufficient length
Need space for at least the number of joint positions in the trajectory point.
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Instead of the maximum possible number always.
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emit warning about JointTolerances for unknown joints
A debug log warning only right now. We could consider making it a fatal error and actually return it.
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failure to parse tolerances fails traj execution
This is a temporary implementation, as it would be better to check the goal_tolerance field can be parsed when validating a new goal.
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Commits on May 17, 2024
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Commits on May 20, 2024
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Co-authored-by: Ted Miller <[email protected]>
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Co-authored-by: Ted Miller <[email protected]>
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