Require vel/accel limits in TOTG, don't use defaults

moveit · Dec 8, 2022 · eb555a4 · eb555a4
1 parent 89c1cba
commit eb555a4
Showing 1 changed file with 6 additions and 9 deletions.
diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -1016,10 +1016,9 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(
 
     if (!set_velocity_limit)
     {
-      max_velocity[j] = 1.0;
-      RCLCPP_WARN_STREAM_ONCE(
-          LOGGER, "Joint velocity limits are not defined. Using the default "
-                      << max_velocity[j] << " rad/s. You can define velocity limits in the URDF or joint_limits.yaml.");
+      RCLCPP_ERROR(LOGGER,
+                   "No velocity limit was defined! You can define velocity limits in the URDF or joint_limits.yaml");
+      return false;
     }
 
     // ACCELERATION LIMIT
@@ -1046,11 +1045,9 @@ bool TimeOptimalTrajectoryGeneration::computeTimeStamps(
     }
     if (!set_acceleration_limit)
     {
-      max_acceleration[j] = 1.0;
-      RCLCPP_WARN_STREAM_ONCE(LOGGER,
-                              "Joint acceleration limits are not defined. Using the default "
-                                  << max_acceleration[j]
-                                  << " rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.");
+      RCLCPP_ERROR(LOGGER, "No acceleration limit was defined! You can define acceleration limits in the URDF or "
+                           "joint_limits.yaml");
+      return false;
     }
   }