From 0e1855e1362d8861c2c47dcdd45b47f482fa7f66 Mon Sep 17 00:00:00 2001
From: Jayant Khatkar <jayant.khatkar@student.uts.edu.au>
Date: Wed, 10 Feb 2021 13:08:59 +1100
Subject: [PATCH] bugfix slow down on real hardware (#18)
---
src/utils/planning_tools.py | 3 +++
1 file changed, 3 insertions(+)
diff --git a/src/utils/planning_tools.py b/src/utils/planning_tools.py
index 34c4c1e..fa038ec 100644
--- a/src/utils/planning_tools.py
+++ b/src/utils/planning_tools.py
@@ -84,4 +84,7 @@ def speed_multiplier(jtraj, multiplier):
elif isinstance(jtraj, JointTrajectory):
for p in jtraj.points:
p.time_from_start = p.time_from_start*multiplier
+ p.velocities = []
+ p.accelerations = []
+ p.effort = []
return jtraj
--
GitLab