Improve verification of outbound EGM commands

ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)

BSD 3-Clause "New" or "Revised" License

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Improve verification of outbound EGM commands #69

Closed jontje closed 4 years ago

jontje commented 4 years ago

As mentioned in PR https://github.com/ros-industrial/abb_libegm/issues/68, then there is currently no check in abb_libegm for NaN values. If NaN values are allowed to pass to the robot controller, then this will cause a system failure.

It should be straight-forward to add checks for NaN to the methods here and here.

gavanderhoorn commented 4 years ago

@jontje: I've replaced the links with perma-links.