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Fix Servo pose joint limit halting #3841

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Fix Servo pose joint limit halting #3841

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3 changes: 2 additions & 1 deletion moveit_ros/moveit_servo/src/servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -349,7 +349,8 @@ KinematicState Servo::haltJoints(const std::vector<size_t>& joint_variables_to_h

const bool all_joint_halt =
(getCommandType() == CommandType::JOINT_JOG && servo_params_.halt_all_joints_in_joint_mode) ||
(getCommandType() == CommandType::TWIST && servo_params_.halt_all_joints_in_cartesian_mode);
((getCommandType() == CommandType::TWIST || getCommandType() == CommandType::POSE) &&
servo_params_.halt_all_joints_in_cartesian_mode);

if (all_joint_halt)
{
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33 changes: 33 additions & 0 deletions moveit_ros/moveit_servo/tests/test_integration.cpp
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Expand Up @@ -159,6 +159,39 @@ TEST_F(ServoCppFixture, PoseTest)
ASSERT_NEAR(delta, expected_delta, tol);
}

TEST_F(ServoCppFixture, PoseHaltsAllJointsAtJointBound)
{
planning_scene_monitor::LockedPlanningSceneRO locked_scene(planning_scene_monitor_);
auto robot_state = std::make_shared<moveit::core::RobotState>(locked_scene->getCurrentState());

const auto& joint_bounds = robot_state->getRobotModel()->getVariableBounds("panda_joint7");
const auto& margins = servo_params_.joint_limit_margins;
const double joint_margin = margins.size() == 1 ? margins.front() : margins.at(6);
robot_state->setVariablePosition("panda_joint7", joint_bounds.max_position_ - joint_margin - 1.0e-4);
robot_state->update();

moveit_servo::PoseCommand pose;
pose.frame_id = "panda_link0";
pose.pose = robot_state->getGlobalLinkTransform("panda_link8");
pose.pose.translation().x() += 0.01;
pose.pose.rotate(Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ()));

servo_test_instance_->setCommandType(moveit_servo::CommandType::POSE);
ASSERT_TRUE(servo_params_.halt_all_joints_in_cartesian_mode);

const moveit_servo::KinematicState current_state =
moveit_servo::extractRobotState(robot_state, servo_params_.move_group_name);
const moveit_servo::KinematicState next_state = servo_test_instance_->getNextJointState(robot_state, pose);

ASSERT_EQ(servo_test_instance_->getStatus(), moveit_servo::StatusCode::JOINT_BOUND);
ASSERT_EQ(next_state.positions.size(), current_state.positions.size());
for (Eigen::Index index = 0; index < current_state.positions.size(); ++index)
{
EXPECT_DOUBLE_EQ(next_state.positions[index], current_state.positions[index]);
EXPECT_DOUBLE_EQ(next_state.velocities[index], 0.0);
}
}

} // namespace

int main(int argc, char** argv)
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