Fix createTrajectoryMessage (moveit#3064)

* Fix createTrajectoryMessage Signed-off-by: Paul Gesel <[email protected]> * Use std::ceil to handle non-aligned sampling_rate Signed-off-by: Paul Gesel <[email protected]> --------- Signed-off-by: Paul Gesel <[email protected]>
PickNikRobotics · Nov 7, 2024 · ee73b10 · ee73b10
1 parent b05ab22
commit ee73b10
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_core/trajectory_processing/src/trajectory_tools.cpp b/moveit_core/trajectory_processing/src/trajectory_tools.cpp
@@ -87,7 +87,7 @@ trajectory_msgs::msg::JointTrajectory createTrajectoryMessage(const std::vector<
   }
   trajectory_msg.joint_names = joint_names;
   const double time_step = 1.0 / static_cast<double>(sampling_rate);
-  const int n_samples = static_cast<int>(trajectory.getDuration() / time_step) + 1;
+  const int n_samples = static_cast<int>(std::ceil(trajectory.getDuration() / time_step)) + 1;
   trajectory_msg.points.reserve(n_samples);
   for (int sample = 0; sample < n_samples; ++sample)
   {