Can't jog out of zero position

UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.

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Open machinekoder opened 5 years ago

machinekoder commented 5 years ago

Due to https://github.com/UTNuclearRoboticsPublic/jog_arm/blob/kinetic/jog_arm/src/jog_arm/jog_arm_server.cpp#L921 it's impossible to jog out of the zero position. What is the rationale behind ignoring all_zeros as valid joint state?

AndyZe commented 5 years ago

We could probably take that out. I don't even remember what the exact issue was.

machinekoder commented 5 years ago

Good, I'm doing some refactoring at the moment since I have some problems with the zero flag behavior. I will add this change as well.