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Fix joint limits crash #3604

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Fix joint limits crash #3604

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32 changes: 30 additions & 2 deletions moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -300,7 +300,21 @@ bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)

// Output property
emitter << YAML::Key << "max_velocity";
emitter << YAML::Value << static_cast<double>(std::min(fabs(b.max_velocity_), fabs(b.min_velocity_)));

// To Solve Putting integer Values like 100 as 100.0 in YAML
double val = std::min(fabs(b.max_velocity_), fabs(b.min_velocity_));

// Check if val is a full integer (within floating-point tolerance)
bool is_integer = std::fabs(val - std::round(val)) < 1e-9;

// Format value as string
std::ostringstream oss;
if (is_integer)
oss << std::fixed << std::setprecision(1) << val; // e.g. 100.0
else
oss << val; // e.g. 99.75

emitter << YAML::Value << oss.str();

// Output property
emitter << YAML::Key << "has_acceleration_limits";
Expand All @@ -315,7 +329,21 @@ bool SRDFConfig::GeneratedJointLimits::writeYaml(YAML::Emitter& emitter)

// Output property
emitter << YAML::Key << "max_acceleration";
emitter << YAML::Value << static_cast<double>(std::min(fabs(b.max_acceleration_), fabs(b.min_acceleration_)));

// To Solve Putting integer Values like 100 as 100.0 in YAML
val = std::min(fabs(b.max_acceleration_), fabs(b.min_acceleration_));

// Check if val is a full integer (within floating-point tolerance)
is_integer = std::fabs(val - std::round(val)) < 1e-9;

// Format value as string
oss.str(""); // Clear the stringstream
if (is_integer)
oss << std::fixed << std::setprecision(1) << val; // e.g. 100.0
else
oss << val; // e.g. 99.75

emitter << YAML::Value << oss.str();

emitter << YAML::EndMap;
}
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