Deduplicate joint trajectory points in Pilz Move Group Sequence capability #2943
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sea-bass
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stephanie-eng
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Aug 2, 2024
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I don't entirely agree that we should fix this at this level, but I'd be loathe to let perfect be the enemy of the good here, and a band aid fix is better than broken.
Could you add a comment or a TODO note specifically calling this out, though, such that in the future, if the duplicate points issue is "properly" addressed, it's clear that this de-duplicate step can be removed?
sea-bass
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Aug 2, 2024
moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
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stephanie-eng
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sjahr
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…ility (#2943) * Deduplicate joint trajectory points before sending them to controllers * Fix max loop value * Move deduplication code to Pilz * Clean up * Add todo
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Description
I was unable to test moveit/moveit2_tutorials#917 successfully on Rolling/main because there was an issue with sending duplicate time points to joint trajectory controllers with the Pilz move group sequence capability.
This PR fixes that, but I am not entirely sure this is the most efficient fix, as it would be preferable to package the trajectory correctly in the first place. But... this works.
Checklist
Closes #2741