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Attempt to fix the goal time violated issue #882

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Merged
merged 3 commits into from
May 22, 2024
Merged

Attempt to fix the goal time violated issue #882

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4d05020
this simple fix should fix the goal time violated issue
Nov 16, 2023
7bd9e36
Merge branch 'main' into fix/goal_time_violated
Jan 17, 2024
5659b14
Merge branch 'main' into fix/goal_time_violated
May 22, 2024
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2 changes: 1 addition & 1 deletion ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Expand Up @@ -168,7 +168,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
// time_difference is
// - negative until first point is reached
// - counting from zero to time_from_start of next point
double time_difference = time.seconds() - segment_time_from_start.seconds();
const double time_difference = time_data.uptime.seconds() - segment_time_from_start.seconds();
bool tolerance_violated_while_moving = false;
bool outside_goal_tolerance = false;
bool within_goal_time = true;
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