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Add a warning for TOTG if vel/accel limits aren't specified. #1186

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merged 2 commits into from
Apr 19, 2022
Merged

Add a warning for TOTG if vel/accel limits aren't specified. #1186

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954cf2c
Add a warning for TOTG if vel/accel limits aren't specified.
Apr 18, 2022
fa4a352
Merge branch 'main' into andyz/warn_if_undefined_vel_accel
Apr 19, 2022
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13 changes: 13 additions & 0 deletions moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -941,6 +941,12 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
max_velocity[j] =
std::min(std::fabs(bounds.max_velocity_), std::fabs(bounds.min_velocity_)) * velocity_scaling_factor;
}
else
{
RCLCPP_WARN_STREAM_ONCE(
LOGGER, "Joint velocity limits are not defined. Using the default "
<< max_velocity[j] << " rad/s. You can define velocity limits in the URDF or joint_limits.yaml.");
}

max_acceleration[j] = 1.0;
if (bounds.acceleration_bounded_)
Expand All @@ -954,6 +960,13 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(robot_trajectory::RobotT
max_acceleration[j] = std::min(std::fabs(bounds.max_acceleration_), std::fabs(bounds.min_acceleration_)) *
acceleration_scaling_factor;
}
else
{
RCLCPP_WARN_STREAM_ONCE(LOGGER,
"Joint acceleration limits are not defined. Using the default "
<< max_acceleration[j]
<< " rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.");
}
}

// Have to convert into Eigen data structs and remove repeated points
Expand Down