v4hn
commented
8 years ago As I supervised Jntzko writing the patch, I'll not merge it myself for now.
@Jntzko: The same if(considered_start_state_)`` construct is present incomputeCartesianPath``` in the same file,
could you please update it there too?
On Tue, Jun 14, 2016 at 01:26:50AM -0700, Jntzko wrote:
Executing a motion without setting the start state of the robot like this:
group_arm.setNamedTarget("start_grab_pose"); success = group_arm.move();throws the error: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request.
The problem is, when considered_startstate is null, every data field of the start_state in the submitted MotionPlanRequest is 0 or false. But we need is_diff to be true, because otherwise move_group will not consider its current state as actual start state without complaining. You can view, comment on, or merge this pull request online at:
https://github.com/ros-planning/moveit_ros/pull/688
-- Commit Summary --
- planning_interface: Set is_diff true for empty start state
-- File Changes --
M planning_interface/move_group_interface/src/move_group.cpp (2)-- Patch Links --
https://github.com/ros-planning/moveit_ros/pull/688.patch https://github.com/ros-planning/moveit_ros/pull/688.diff
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Jntzko
davetcoleman
Executing a motion without setting the start state of the robot like this:
throws the error: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request.
The problem is, when considered_startstate is null, every data field of the start_state in the submitted MotionPlanRequest is 0 or false. But we need is_diff to be true, because otherwise move_group will not consider its current state as actual start state without complaining.