Open chama1176 opened 3 months ago
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.
Looking at the code - yup, this is definitely an issue - the switch statement logic will basically never hit the default case
Description
CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints
Your environment
Steps to reproduce
Expected behaviour
CheckStartStateBounds is not SUCCESS. And fixed to joint limit in case fix_start_state is true.
Actual behaviour
CheckStartStateBounds is SUCCESS.
Details
In https://github.com/moveit/moveit2/pull/2429, CheckStartStateBounds is refactored. The logic has also been changed so that the check is skipped for non-infinite rotation joints, which are used in most arm joints.
https://github.com/moveit/moveit2/blob/a7fe0df4c565db15710581bdcba1d33d70aa0ddb/moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp#L105-L120