From 994f11d576c850c41aef169dd5f88c949546e832 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 21 Jul 2020 01:16:15 +0200
Subject: [PATCH] minor fixes
---
src/util/TrajectoryUtil.cpp | 6 +-----
1 file changed, 1 insertion(+), 5 deletions(-)
diff --git a/src/util/TrajectoryUtil.cpp b/src/util/TrajectoryUtil.cpp
index 1e4dbbd..00b520c 100644
--- a/src/util/TrajectoryUtil.cpp
+++ b/src/util/TrajectoryUtil.cpp
@@ -34,15 +34,10 @@ bool TrajectoryUtil::computePathToPose(moveit::planning_interface::MoveGroupInte
robot_trajectory::RobotTrajectory rt(group.getCurrentState()->getRobotModel(), "panda_arm");
rt.setRobotTrajectoryMsg(*group.getCurrentState(), trajectory_msg);
trajectory_processing::IterativeParabolicTimeParameterization iptp{};
-
- iptp.computeTimeStamps(rt);
-
if (iptp.computeTimeStamps(rt, maxVelocityFactor)) {
ROS_INFO("Computed time stamps.");
rt.getRobotTrajectoryMsg(trajectory_msg);
plan.trajectory_ = trajectory_msg;
-
- ROS_ERROR_STREAM("After second time parameterization, the trajectory takes " << rt.getDuration() << "s");
} else {
ROS_ERROR("Computation of cartesian path has failed.");
return false;
@@ -50,6 +45,7 @@ bool TrajectoryUtil::computePathToPose(moveit::planning_interface::MoveGroupInte
} else if (pathType == FLUID_PATH) {
if (group.plan(plan) != moveit::planning_interface::MoveItErrorCode::SUCCESS) {
ROS_ERROR_STREAM("Computation of fluid path has failed. Path was motion to:\n" << targetPose);
+ return false;
}
} else {
ROS_ERROR("Invalid type of path provided.");
--
GitLab