Zero time_from_start bug, PEP8 cleanup

RethinkRobotics / baxter

Baxter Research Robot SDK

www.rethinkrobotics.com/sdk

BSD 3-Clause "New" or "Revised" License

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Closed rethink-kmaroney closed 11 years ago

rethink-kmaroney commented 11 years ago

Fixes case where no time_from_start values are specified by the joint trajectory action client. It now uses a new parameter, default_velocity, for each joint to determine the amount of time it will take to achieve each consecutive point. With the times specified the rest will be handled with the discretization in the joint_trajectory_action_server.
General PEP8 compliance and cleanup, particularly line lengths.

rethink-rlinsalata commented 11 years ago

Looks nice -- if we want to fix the whitespace, we can just push it later.