Invalid input error, but input seems fine

[AndyZe]

[ERROR] - /seg_0/pick_bot: [1671034050.415487924] Ruckig jerk-limited smoothing failed with code: -100 (Invalid input)

But I don't see what about this is invalid:

[ WARN] - /seg_0/pick_bot: [1671034050.416114726] 0.00769231
Ruckig input:

inp.current_position = [-1.135053174917025, 2.79, 2.45, -0.58, -1.72, 1.015086525357003]
inp.current_velocity = [0, 0, 0, 0, 0, 0]
inp.current_acceleration = [0, 0, 0, 0, 0, 0]
inp.target_position = [-1.271207372084076, 2.79, 2.45, -0.5800000000000002, -1.72, 1.151216170589311]
inp.target_velocity = [-1.711010717370143, 0, 0, -2.054215846043843e-15, 0, 1.710702180253011]
inp.target_acceleration = [29.99999999998483, 0, 0, 3.601758583722072e-14, 0, -29.99459026559806]
inp.max_velocity = [3.15, 3.15, 3.15, 4.24, 4.75, 4.24]
inp.max_acceleration = [30, 30, 30, 30, 30, 30]
inp.max_jerk = [100, 100, 100, 100, 100, 100]

Note that I'm on an older version of Ruckig -- the version that was released for ROS1 in August 2021. https://github.com/pantor/ruckig-release

[AndyZe]

Do we just need to make a new release for ROS1? I can grab somebody to do that if you give them admin access to pantor/ruckig and pantor/ruckig-release, I bet

[gavanderhoorn]

You wouldn't need admin access to this repository. Just push access to the release repository.

Provided the necessary tags are created on pantor/ruckig.

Technically you could even do a "rogue" release, with a different release repository.

[pantor]

I'd be happy to give someone write or maintain permissions to this repository for that 👍. Let's keep the discussion for that in #137.

[pantor]

Regarding the invalid input, keep in mind that the target acceleration needs to fulfill

target_acceleration <= sqrt(2 * max_jerk * (max_velocity - abs(velocity)))

so that the trajectory is able reach the target acceleration with limited jerk inside the velocity limits. The Readme has more information about it here.

It seems (at least) the first axis is violating that condition.