Fix bug in move relative

This commit is contained in:
Abishalini 2024-01-18 12:55:29 -07:00
parent 823899fabd
commit c5bf96f5f7

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@ -116,7 +116,7 @@ tl::expected<bool, std::string> CartesianPath::plan(const planning_scene::Planni
timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
props.get<double>("max_acceleration_scaling_factor"));
if (achieved_fraction >= props.get<double>("min_fraction")) {
if (achieved_fraction < props.get<double>("min_fraction")) {
return tl::make_unexpected("Min fraction not met. Achieved fraction : " + std::to_string(achieved_fraction));
}
return true;