CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints

[chama1176]

Description

CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints

Your environment

• ROS Distro: Jazzy
• OS Version: e.g. Ubuntu 24.04
• Binary build 2.10.0

Steps to reproduce

• Set the initial posture of the actual robot to a position beyond the urdf limit.
• Press “plan” button in rviz to plan the trajectory.

Expected behaviour

CheckStartStateBounds is not SUCCESS. And fixed to joint limit in case fix_start_state is true.

Actual behaviour

CheckStartStateBounds is SUCCESS.

Details

In #2429, CheckStartStateBounds is refactored.
The logic has also been changed so that the check is skipped for non-infinite rotation joints, which are used in most arm joints.

moveit2/moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp

Lines 105 to 120 in a7fe0df

	switch (jmodel->getType())
	{
	case moveit::core::JointModel::REVOLUTE:
	{
	if (static_cast<const moveit::core::RevoluteJointModel*>(jmodel)->isContinuous())
	{
	double initial = start_state.getJointPositions(jmodel)[0];
	start_state.enforceBounds(jmodel);
	double after = start_state.getJointPositions(jmodel)[0];
	if (fabs(initial - after) > std::numeric_limits<double>::epsilon())
	{
	changed_req = true;
	}
	}
	break;
	}

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[mikeferguson]

Looking at the code - yup, this is definitely an issue - the switch statement logic will basically never hit the default case