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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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TrajOptIfopt errors in getMaxErrorWithBufferT* #370

Closed rjoomen closed 10 months ago

rjoomen commented 10 months ago

The TrajOptIfopt version of car_seat_example crashes because "Max error with buffer at T0 does not exist.". This is using the LVS_DISCRETE collision evaluator. In testing with my own code I also have crashes, because "Max error with buffer at T1 does not exist." when using evaluator CONTINUOUS, but not when using the other collision evaluator types.

I have been searching for hours, but can't find the reason. @Levi-Armstrong would you be able to take a look, because I've no idea how to solve this.

Levi-Armstrong commented 10 months ago

Yea, I will take a look. What branch should I check out.

rjoomen commented 10 months ago

This one, and then build car_seat_example_node with parameter ifopt = true and run it. It should quit with a non-descriptive error.

Levi-Armstrong commented 10 months ago

I will have a PR up soon which fixes this issue.

Levi-Armstrong commented 10 months ago

Fixed by PR #372

rjoomen commented 10 months ago

Great, this has solved the issue. Thanks.