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FJT: disable broken goal tolerance check temporarily #237

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FJT: disable broken goal tolerance check temporarily #237

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6 changes: 3 additions & 3 deletions src/ActionServer_FJT.c
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Original file line number Diff line number Diff line change
Expand Up @@ -502,9 +502,9 @@ void Ros_ActionServer_FJT_Goal_Complete(GOAL_END_TYPE goal_end_type)
{
diff = fabs(feedback_FollowJointTrajectory.feedback.desired.positions.data[axis] - feedback_FollowJointTrajectory.feedback.actual.positions.data[axis]);

double posTolerance = g_actionServer_FJT_SendGoal_Request.goal.goal_tolerance.data[axis].position; //user-provided a goal_tolerance
if (posTolerance == 0.0) //user did NOT provide a tolerance
posTolerance = DEFAULT_FJT_GOAL_POSITION_TOLERANCE;
//ignore goal tolerance provided by user (https://github.com/Yaskawa-Global/motoros2/issues/233)
//TODO(gavanderhoorn): properly implement goal_tolerance parsing and checking
double posTolerance = DEFAULT_FJT_GOAL_POSITION_TOLERANCE;

if (diff > posTolerance)
{
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