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always add current poisition as the first point in trajectory points #73

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always add current poisition as the first point in trajectory points #73

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bc76d5e
Merge pull request #71 from RethinkRobotics/release-1.2.0
Dec 30, 2015
e1484b8
always add current poisition as the first point in trajectory points
k-okada Jul 16, 2016
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2 changes: 1 addition & 1 deletion src/joint_trajectory_action/joint_trajectory_action.py
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Original file line number Diff line number Diff line change
Expand Up @@ -361,7 +361,7 @@ def _on_trajectory_action(self, goal):

dimensions_dict = self._determine_dimensions(trajectory_points)

if num_points == 1:
if num_points >= 1 and trajectory_points[0].time_from_start.to_sec() > 0:
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@wkentaro wkentaro Sep 16, 2016

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This can be following? because it returns when num_points == 0.

if trajectory_points[0].time_from_start.to_sec() > 0:

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@k-okada k-okada Sep 26, 2016

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thanks #74

# Add current position as trajectory point
first_trajectory_point = JointTrajectoryPoint()
first_trajectory_point.positions = self._get_current_position(joint_names)
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