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Enable using a subgroup of the move group in servo (moveit#2396)
* Enable using a subgroup of the move group in servo * Remove unnecessary validations since the param is const * Apply suggestions from code review Co-authored-by: Sebastian Castro <[email protected]> * Don't copy joints if subgroup == move group * Re-add params_valid in validateParams * Generalize active subgroup delta calculation * Add more efficient move group joint position lookup * Create subgroup map in the constructor * Apply suggestions from code review Co-authored-by: Sebastian Castro <[email protected]> * Update moveit_ros/moveit_servo/src/servo.cpp --------- Co-authored-by: Sebastian Castro <[email protected]>
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