Dont check joint model groups containing only fixed joints

robinedwards commented 3 years ago

Description

Some group joint model groups may not have any active joints, this seams counter intuitive but its common to have a group for an end effector which may consist of only fixed joints.

This small changes skips over the group if it has no active joint names and prevents the error when planning a PTP such as:

[ERROR] [1609780343.558658315]: velocity limit not set for group end_effector
[ERROR] [1609780343.559382469]: Exception caught: 'velocity limit not set for group end_effector'

Things to add, update or check by the maintainers before this PR can be merged.

[ ] Public api function documentation
[ ] Architecture documentation reflects actual code structure
[ ] Tutorials
[ ] Overview on ROS wiki
[ ] Package Readme (example pilz_robots)
[ ] Good commit messages (some tips)
[ ] CHANGELOG.rst updated
[ ] Copyright headers
[ ] Examples

Review Checklist

[ ] Soft- and hardware architecture (diagrams and description)
[ ] Test review (test plan and individual test cases)
[ ] Documentation describes purpose of file(s) and responsibilities
[ ] Code (coding rules, style guide)

Release planning (please answer)

[ ] When is the new feature released?
[ ] Which dependent packages do have to be released simultaneously?

jschleicher commented 3 years ago

Thanks for your pull request, @robinedwards!

This package has been integrated upstream into moveit master.

Please file a PR on ros-planning/moveit against the master branch. I'll then be happy to review it. A binary release as well as melodic backport there is planned soon. pilz_trajectory_generation is therefore abondoned and you should migrate to pilz_industrial_motion_planner which is the new name for our same planner.

v4hn commented 3 years ago

@jschleicher maybe you should archive the repository then or at least state the changed upstream in big friendly letters at the top of the README. :sunglasses:

jschleicher commented 3 years ago

@jschleicher maybe you should archive the repository then

We're still waiting for a melodic and noetic release of moveit upstream - since months...

v4hn commented 3 years ago

We're still waiting for a melodic and noetic release of moveit upstream - since months...

You know who to blame for it I guess. Both should have happened months ago.

noetic is released now and will probably see a followup release soon that includes this fix.

We will talk about a melodic release at the maintainer meeting this week, but the main issue is that someone has to review&do backports. Feel free to volunteer to do just that.

jschleicher commented 3 years ago

do backports

@v4hn The backport was merged in ros-planning/moveit#2507. So what else needs to be done?

v4hn commented 3 years ago

do backports

There is quite a long backlog in git log reviewed-for-backport..master and a lot of these fixes should be backported. If we don't do it before a release, we will never do it.

PilzDE / pilz_industrial_motion