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Dont allow zeros in time_from_start to prevent the use of time_from_s… #2

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Dont allow zeros in time_from_start to prevent the use of time_from_s… #2

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4 changes: 2 additions & 2 deletions arbotix_python/src/arbotix_python/follow_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -136,9 +136,9 @@ def executeTrajectory(self, traj):
desired = [ point.positions[k] for k in indexes ]

# two modes: First the transition time / total duration is specified that implies joint velocities (synchronous transition)
if point.time_from_start.secs > 0 or point.time_from_start.nsecs > 0:
if point.time_from_start.secs >= 0 or point.time_from_start.nsecs >= 0:
sync_transition = True
if len(point.velocities)>0:
if len(point.velocities)>0 and not all(v == 0 for v in point.velocities):
rospy.logwarn("Found both a nonzero time_from_start and individual joint velocities. Chosing synchronous transition w.r.t. time_from_start.")
endtime = start + point.time_from_start
else: # second mode: command user-defined velocity profile until desired position is reached (consider joints separately)
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