Fix floating point comparison in JTC (#879)

Abishalini · christophfroehlich · mergify[bot] · commit 4a17a4f837b4 · 2023-12-04T20:22:25.000Z
* Fix floating point comparison in JTC * Fix format --------- Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> (cherry picked from commit 71b06d0)
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1390,10 +1390,11 @@ bool JointTrajectoryController::validate_trajectory_msg(
   {
     for (size_t i = 0; i < trajectory.points.back().velocities.size(); ++i)
     {
-      if (trajectory.points.back().velocities.at(i) != 0.)
+      if (fabs(trajectory.points.back().velocities.at(i)) > std::numeric_limits<float>::epsilon())
       {
         RCLCPP_ERROR(
-          get_node()->get_logger(), "Velocity of last trajectory point of joint %s is not zero: %f",
+          get_node()->get_logger(),
+          "Velocity of last trajectory point of joint %s is not zero: %.15f",
           trajectory.joint_names.at(i).c_str(), trajectory.points.back().velocities.at(i));
         return false;
       }

Original file line number	Diff line number	Diff line change
`@@ -1390,10 +1390,11 @@ bool JointTrajectoryController::validate_trajectory_msg(`
`1390`	`1390`	`{`
`1391`	`1391`	`for (size_t i = 0; i < trajectory.points.back().velocities.size(); ++i)`
`1392`	`1392`	`{`
`1393`		`- if (trajectory.points.back().velocities.at(i) != 0.)`
	`1393`	`+ if (fabs(trajectory.points.back().velocities.at(i)) > std::numeric_limits<float>::epsilon())`
`1394`	`1394`	`{`
`1395`	`1395`	`RCLCPP_ERROR(`
`1396`		`- get_node()->get_logger(), "Velocity of last trajectory point of joint %s is not zero: %f",`
	`1396`	`+ get_node()->get_logger(),`
	`1397`	`+ "Velocity of last trajectory point of joint %s is not zero: %.15f",`
`1397`	`1398`	`trajectory.joint_names.at(i).c_str(), trajectory.points.back().velocities.at(i));`
`1398`	`1399`	`return false;`
`1399`	`1400`	`}`