Document motion service error for disconnected frame systems#5219
Open
Shannon Bradshaw (shannonbradshaw) wants to merge 1 commit into
Open
Document motion service error for disconnected frame systems#5219Shannon Bradshaw (shannonbradshaw) wants to merge 1 commit into
Shannon Bradshaw (shannonbradshaw) wants to merge 1 commit into
Conversation
The motion service now rejects planning when frames are not all connected to the world frame (rdk#6240). Document the new error in the "When planning fails" list and add a troubleshooting section to the CLI debugging guide. Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]> Claude-Session: https://claude.ai/code/session_01LnJk1PPu5KzH57qUvND5bi
✅ Deploy Preview for viam-docs ready!
To edit notification comments on pull requests, go to your Netlify project configuration. |
viambot
added
the
safe to build
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
The motion service now rejects all planning requests (Move, MoveOnGlobe, MoveOnMap, etc.) when the machine's frame system has parts that are not connected to the world frame. Previously, orphaned frames were silently ignored, which could lead to collisions. This PR documents the new error so users can diagnose and fix it.
Source changes
NewFromServiceMustBeConnectedwhich returns an error listing unlinked parts if any frame's parent chain does not reach the world frame.Docs changes
docs/motion-planning/how-planning-works.md: Added "Frames are not linked to the world frame" as item 1 in the "When planning fails" list, with explanation and fix guidance.docs/motion-planning/debug-motion-with-cli.md: Added a new troubleshooting section for the specific error message, with steps to identify and fix unlinked frame parents.How I found these
flows.mdlists motion planning behavioral paths;maintenance.mdstaleness table mapsrdk/services/motion/changes to motion planning docs.Generated by daily docs change agent
Generated by Claude Code