Remove duplicate check

ros-controls · Jun 22, 2024 · 54d279c · 54d279c
1 parent ec87dc0
commit 54d279c
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -225,18 +225,15 @@ controller_interface::return_type JointTrajectoryController::update(
         if (
           (before_last_point || first_sample) && *(rt_is_holding_.readFromRT()) == false &&
           !check_state_tolerance_per_joint(
-            state_error_, index, active_tol->state_tolerance[index], true /* show_errors */) &&
-          *(rt_is_holding_.readFromRT()) == false)
+            state_error_, index, active_tol->state_tolerance[index], true /* show_errors */))
         {
           tolerance_violated_while_moving = true;
         }
         // past the final point, check that we end up inside goal tolerance
         if (
           !before_last_point && *(rt_is_holding_.readFromRT()) == false &&
           !check_state_tolerance_per_joint(
-            state_error_, index, active_tol->goal_state_tolerance[index],
-            false /* show_errors */) &&
-          *(rt_is_holding_.readFromRT()) == false)
+            state_error_, index, active_tol->goal_state_tolerance[index], false /* show_errors */))
         {
           outside_goal_tolerance = true;