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Always add first point development #74

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Always add first point development #74

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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
2684437
it already retuned when num_points == 0
k-okada Sep 26, 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 trajectory_points[0].time_from_start.to_sec() > 0: # it already retuned when num_points == 0 (see 10 lines above)
# Add current position as trajectory point
first_trajectory_point = JointTrajectoryPoint()
first_trajectory_point.positions = self._get_current_position(joint_names)
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