Only append to start_modes in prepare_switch #1344
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Before the main control mode (position/velocity) was always overwriting the complete list for the joint. That worked fine when that was the only control mode for a joint or if it was the first in the list. But that is not guaranteed. Since we create the list as an empty vector beforehand, anyway, we can simply append to that list in any case. The list will be checked for compatibility at a later point, anyway.
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #1344 +/- ##
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+ Coverage 3.59% 5.07% +1.48%
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Files 13 33 +20
Lines 947 3430 +2483
Branches 152 421 +269
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+ Hits 34 174 +140
- Misses 843 3254 +2411
+ Partials 70 2 -68
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urmahp
approved these changes
Apr 23, 2025
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Before the main control mode (position/velocity) was always overwriting the complete list for the joint. That worked fine when that was the only control mode for a joint or if it was the first in the list. But that is not guaranteed.
Since we create the list as an empty vector beforehand, anyway, we can simply append to that list in any case. The list will be checked for compatibility at a later point, anyway.