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moveit · Dec 4, 2024 · 42ff99e · 42ff99e
1 parent bdd6494
commit 42ff99e
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp
@@ -188,7 +188,7 @@ class CheckStartStateBounds : public planning_interface::PlanningRequestAdapter
     }
     else if (params.fix_start_state && should_fix_state)
     {
-      constexpr auto msg_string = "Changing start state.";
+      constexpr auto msg_string = "Normalized start state.";
       status.message = msg_string;
       RCLCPP_WARN(logger_, msg_string);
       moveit::core::robotStateToRobotStateMsg(start_state, req.start_state);

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/test/test_check_start_state_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/test/test_check_start_state_bounds.cpp
@@ -147,9 +147,9 @@ TEST_F(TestCheckStartStateBounds, TestContinuousJointFixedBounds)
 
   const auto result = adapter_->adapt(planning_scene_, request);
   EXPECT_EQ(result.val, moveit_msgs::msg::MoveItErrorCodes::SUCCESS);
-  EXPECT_EQ(result.message, "Changing start state.");
+  EXPECT_EQ(result.message, "Normalized start state.");
 
-  // Validate that the start state in the request was actually changed.
+  // Validate that the large continuous joint position value in the request start state was normalized.
   const auto& joint_names = request.start_state.joint_state.name;
   const size_t joint_idx =
       std::find(joint_names.begin(), joint_names.end(), "r_forearm_roll_joint") - joint_names.begin();