JTC computes wrong trajectory_end_time during validate_trajectory_msg

[KolinGuo]

Describe the bug
joint_trajectory_controller computes wrong trajectory_end_time during validate_trajectory_msg.

In JointTrajectoryController::validate_trajectory_msg() method, the trajectory_end_time is computed by adding the time_from_start of all trajectory points to trajectory_start_time.

However, if I understand correctly, the time_from_start values are all referenced from the header.stamp and are not accumulated (delta time between two trajectory points).

Expected behavior
Correctly compute trajectory_end_time as
trajectory_end_time = trajectory_start_time + trajectory.points.back().time_from_start

Environment (please complete the following information):

• OS: Ubuntu 22.04
• Version: Humble & Rolling

[christophfroehlich]

There is already a PR fixing this, see #1090

[KolinGuo]

Ahh I see, didn't notice the PR previously. Thanks for the pointer!

[christophfroehlich]

No problem at all, thanks for reporting ;) But you could have a look at the PR and give your approval if this works for you (Files changed -> Review Changes)