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MoveTo support for mdof joint variable states (moveit#13)
Co-authored-by: Henning Kayser <[email protected]>
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core/src/stages/move_to.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -119,8 +119,8 @@ bool MoveTo::getJointStateGoal(const boost::any& goal, const moveit::core::Joint
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if (!msg.is_diff)
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throw InitStageException(*this, "Expecting a diff state");
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// validate specified joints
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const auto& accepted = jmg->getJointModelNames();
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// validate specified joints, we compare variable names to allow namespaced multi-dof joints
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const auto& accepted = jmg->getVariableNames();
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for (const auto& name : msg.joint_state.name)
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if (std::find(accepted.begin(), accepted.end(), name) == accepted.end())
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throw InitStageException(*this, "Joint '" + name + "' is not part of group '" + jmg->getName() + "'");

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