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