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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.
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.
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Sep 5, 2024
Description
CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints
Your environment
Steps to reproduce
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
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