From f39f4ddda00c9b3f8603ed52853897ce78068068 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 12 Mar 2024 21:37:34 +0100 Subject: [PATCH] Connect: Relax validity check of reached end state Looks like ROS2 uses a more relaxed goal constraint threshold than ROS1. For this reason, all end states reached by Connect solutions of pick+place demo are rejected. This commit relaxes the max_distance threshold of Connect as well. --- core/src/stages/connect.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/core/src/stages/connect.cpp b/core/src/stages/connect.cpp index 823750dd1..8e17a58c9 100644 --- a/core/src/stages/connect.cpp +++ b/core/src/stages/connect.cpp @@ -57,7 +57,7 @@ Connect::Connect(const std::string& name, const GroupPlannerVector& planners) : auto& p = properties(); p.declare("merge_mode", WAYPOINTS, "merge mode"); - p.declare("max_distance", 1e-4, "maximally accepted distance between end and goal sate"); + p.declare("max_distance", 1e-2, "maximally accepted distance between end and goal sate"); p.declare("path_constraints", moveit_msgs::msg::Constraints(), "constraints to maintain during trajectory"); properties().declare("merge_time_parameterization",