I recently ran into an issue with a trajectory filter (uniform sampling filter) which had been accidentally given a bad input trajectory such that the update method returned false. The adaptAndPlan method did not check the output of the update method which subsequently resulted in an exception being thrown elsewhere in the move_group code. This PR checks the call to the update method before continuing to write the new output trajectory to avoid issues later in the planning/execution pipeline
gavanderhoorn
commented
5 years ago
I recently ran into an issue with a trajectory filter (uniform sampling filter) which had been accidentally given a bad input trajectory such that the
updatemethod returned false. TheadaptAndPlanmethod did not check the output of theupdatemethod which subsequently resulted in an exception being thrown elsewhere in themove_groupcode. This PR checks the call to theupdatemethod before continuing to write the new output trajectory to avoid issues later in the planning/execution pipeline