TiderFang

icon location A goal is a dream with a deadline.

Results 2 issues of TiderFang

makePlan takes too much time.

[ WARN] [1604979831.350605860, 264.600000000]: Cancel planning failed or is not supported by the plugin. Wait until the current planning finished! [ INFO] [1604979831.473445054, 264.700000000]: Time (for update): 84.900000 sec [...

The "AxialSymmetricPt::FreeAxis axis" means free rotation about axis of world frame or base_link of robot, Which Cause strange orientaion of path when applicated in a blending project, requiring blending tool vertical to blending surface.

`AxialSymmetricPt::FreeAxis axis` used in `descartes_trajectory::AxialSymmetricPt` dose not mean free rotate about axis in **tool coordinate.** I found its use as below: `OrientationTolerance orient_tol = ToleranceBase::createSymmetric( ((axis == AxialSymmetricPt::X_AXIS) ? 0.0...