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moveit / moveit_core

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"Returning dirty link transformation" warning when planning with joint constraints #279

Closed johnnieleung closed 8 years ago

johnnieleung commented 8 years ago

Problem: when planning with joint constraints, warning message "Returning dirty link transformation" keeps popping up.

Problem location: I have tracked the problem down to the following function in moveit_core/constraint_samplers/src/default_constraint_samplers.cpp:

bool constraint_samplers::JointConstraintSampler::sample(robot_state::RobotState &state,
                                                         const robot_state::RobotState & /* reference_state */,
                                                         unsigned int /* max_attempts */)
{
  ...
  state.setJointGroupPositions(jmg_, values_);
  return true;
}

The problem is that after state.setJointGroupPositions(jmg_, values_) the state is not updated. Therefore when followed by a call to an IKConstraintSampler, the robot state is actually dirty, thus causing the warning message.

Fix: Just by adding state.update() after the state.setJointGroupPositions(jmg_, values_) in above code solves the problem.

daichengkai commented 8 years ago

Hi, I also have the same issue you mentioned in the #278 , could you tell me the way you solve it? Thanks!

johnnieleung commented 8 years ago

Hi, please check out the reply I just added in #278