[Servo] Support single-element joint limit margins vector and fix joint halting logic for multi-DOF Joints #2970
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…nt halting logic for multi-DOF joints
sea-bass
force-pushed
the
update-servo-joint-limit-margins
branch
from
16efe91 to
d4a42bc
Compare
sea-bass
commented
Aug 13, 2024
sjahr
reviewed
Aug 13, 2024
sea-bass
force-pushed
the
update-servo-joint-limit-margins
branch
from
324305f to
8b9c067
Compare
sea-bass
commented
Aug 13, 2024
sjahr
approved these changes
Aug 14, 2024
github-merge-queue
bot
removed this pull request from the merge queue due to failed status checks
github-merge-queue
bot
removed this pull request from the merge queue due to failed status checks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR allows the
joint_limit_marginsparameter of MoveIt Servo to be a single-element vector (and changes the defaults accordingly, so it works off-the-shelf with every robot).It also fixes a not-yet-seen issue in which the joint halting logic would have failed if there were multi-DOF Joints. For those who were spammed by this PR, I was making sure this fix was correct, so please give it a look!
Closes #2843.
Checklist