Fix Pilz blending times (backport #2961) #3001
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* Fix Pilz blending times... the right way * Remove more debugs * Format (cherry picked from commit 4fad0d0) # Conflicts: # moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp # moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
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Cherry-pick of 4fad0d0 has failed: To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally |
stephanie-eng
approved these changes
Sep 14, 2024
sea-bass
changed the title
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@henningkayser Iron CI seems to be not passing at the moment, could you help merge this backport? Thanks! |
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Description
Found the issue!
Turns out that Pilz's
appendWithStrictTimeIncrease()function had a single if-statement that encompassed two conditions:In both cases, the whole trajectory segment was appended with a
dt=0.The problem is that in case 1, it's appropriate to add a
dt=0(as the trajectory is empty, the first point should be att=0). In case 2, we needed to apply a non-zero sample time offset dictated by the actualdtof that trajectory's first waypoint.Closes #2945
Checklist
This is an automatic backport of pull request #2961 done by [Mergify](https://mergify.com).