Cartesian Path Service Should Support Revolute and Prismatic Jump Thresholds

[amalnanavati]

Is your feature request related to a problem? Please describe. As it stands, moveit_msgs allows users to specify a revolute_jump_threshold and prismatic_jump_threshold in GetCartesianPath.srv. Additionally, the MoveIt2 CartesianInterpolator has the capability to check revolute/prismatic jumps (code). However, the CartesianPathService does not pass the revolute_jump_threshold or prismatic_jump_thresholdattributes from the request to the CartesianInterpolator (code), preventing people who use the ROS interface from using those attributes.

Describe the solution you'd like This should be a one-line fix: pass req->revolue_jump_threshold and req->prismatic_jump_threshold as parameters when creating the JumpThreshold in the cartesian path service (code).

Describe alternatives you've considered N/A

Additional context If you are willing to backport this change, it would be great to have it in Humble :)

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions[bot]]

This issue was closed because it has been stalled for 45 days with no activity.