CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints

chama1176 commented 3 months ago

Description

Your environment

ROS Distro: Jazzy
OS Version: e.g. Ubuntu 24.04
Binary build 2.10.0

Steps to reproduce

Set the initial posture of the actual robot to a position beyond the urdf limit.
Press “plan” button in rviz to plan the trajectory.

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

github-actions[bot] commented 1 month 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.

mikeferguson commented 2 weeks ago

Looking at the code - yup, this is definitely an issue - the switch statement logic will basically never hit the default case

moveit / moveit2