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moveit / moveit_visual_tools

Helper functions for displaying and debugging MoveIt! data in Rviz via published markers
BSD 3-Clause "New" or "Revised" License
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Issues with mimic joints #82

Closed simonschmeisser closed 3 years ago

simonschmeisser commented 3 years ago

https://github.com/ros-planning/moveit_visual_tools/blob/c166f8ee6412023b4183fc091abe6acbcdba2448/src/moveit_visual_tools.cpp#L273

this line expects (and reads from adjacent memory) values for all joints (including mimic joints), while further up we make sure that only active joints are passed in.

Unfortunately we currently have a cases where the first joint is not an active joint and the value gets written "somewhere"

simonschmeisser commented 3 years ago

We have this bug about ten times all over our product, maybe a helper function should be added to RobotState to do the sane thing and set only the active joint positions?