{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/226843833","pull_request_review_id":166766158,"id":226843833,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIyNjg0MzgzMw==","diff_hunk":"@@ -87,6 +89,10 @@ void MotionPlanningFrame::allowLookingToggled(bool checked)\n     move_group_->allowLooking(checked);\n }\n \n+void MotionPlanningFrame::cartesianPathToggled(bool checked)","path":"moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp","position":13,"original_position":13,"commit_id":"dd51ced3d189aa25046eb5d7c3d97717aeb947b2","original_commit_id":"784053db2e1eedfda7a23da722bab6121ad8264a","user":{"login":"rhaschke","id":5376030,"node_id":"MDQ6VXNlcjUzNzYwMzA=","avatar_url":"https://avatars2.githubusercontent.com/u/5376030?v=4","gravatar_id":"","url":"https://api.github.com/users/rhaschke","html_url":"https://github.com/rhaschke","followers_url":"https://api.github.com/users/rhaschke/followers","following_url":"https://api.github.com/users/rhaschke/following{/other_user}","gists_url":"https://api.github.com/users/rhaschke/gists{/gist_id}","starred_url":"https://api.github.com/users/rhaschke/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rhaschke/subscriptions","organizations_url":"https://api.github.com/users/rhaschke/orgs","repos_url":"https://api.github.com/users/rhaschke/repos","events_url":"https://api.github.com/users/rhaschke/events{/privacy}","received_events_url":"https://api.github.com/users/rhaschke/received_events","type":"User","site_admin":false},"body":"> When using Gazebo, [this bug](https://answers.ros.org/question/253004/moveit-problem-error-trajectory-message-contains-waypoints-that-are-not-strictly-increasing-in-time/) occurs. The simplest solution is to delete the first waypoint (the current robot pose) from the list.\r\n\r\nThis is also the correct solution. In planCartesianPath, there will be a warning as well: #1085.","created_at":"2018-10-21T00:03:18Z","updated_at":"2018-10-21T00:03:18Z","html_url":"https://github.com/ros-planning/moveit/pull/931#discussion_r226843833","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/931","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/226843833"},"html":{"href":"https://github.com/ros-planning/moveit/pull/931#discussion_r226843833"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/931"}},"in_reply_to_id":200078312},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/931","id":191985814,"node_id":"MDExOlB1bGxSZXF1ZXN0MTkxOTg1ODE0","html_url":"https://github.com/ros-planning/moveit/pull/931","diff_url":"https://github.com/ros-planning/moveit/pull/931.diff","patch_url":"https://github.com/ros-planning/moveit/pull/931.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/931","number":931,"state":"open","locked":false,"title":"motion_planning_rviz_plugin : add CartesianPath planning check box","user":{"login":"k-okada","id":493276,"node_id":"MDQ6VXNlcjQ5MzI3Ng==","avatar_url":"https://avatars0.githubusercontent.com/u/493276?v=4","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"body":"### Description\r\n\r\nAdded \"cartesian path\" checkbox, so that everyone easily run the result of `computeCartesianPath`example\r\n\r\n\r\n![screenshot from 2018-06-01 12-24-20](https://user-images.githubusercontent.com/493276/40834500-f3b24828-65cb-11e8-9a13-6c2d829a6aeb.png)\r\n\r\n![screenshot from 2018-06-01 12-24-27](https://user-images.githubusercontent.com/493276/40834516-04ef0ea0-65cc-11e8-9de9-0c7b4591e1ce.png)\r\n\r\nI have asked many times from industrial users about cartesian space interpolation, which they call  `PTP (point-to-point)  Control`, I know they already knows https://rosindustrial.org/news/2014/9/5/cartesian-path-planner-plug-in-for-moveit, but they think trajectory obtained from joint space search space  more advanced feature and always curious that why MoveIt do not have basic featrue (for them) like `PTP`.\r\n\r\n### Checklist\r\n- [ ] **Required**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/)\r\n- [ ] Include a screenshot if changing a GUI\r\n- [ ] Optional: Created tests, which fail without this PR [reference]\r\n(http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)\r\n- [ ] Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic)\r\n\r\n[//]: # \"You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!\"\r\n","created_at":"2018-06-01T09:49:39Z","updated_at":"2018-10-21T00:03:18Z","closed_at":null,"merged_at":null,"merge_commit_sha":"0a146a5e7a34e896d9d60191c45af7ca2458bdf0","assignee":null,"assignees":[],"requested_reviewers":[{"login":"gavanderhoorn","id":4550046,"node_id":"MDQ6VXNlcjQ1NTAwNDY=","avatar_url":"https://avatars0.githubusercontent.com/u/4550046?v=4","gravatar_id":"","url":"https://api.github.com/users/gavanderhoorn","html_url":"https://github.com/gavanderhoorn","followers_url":"https://api.github.com/users/gavanderhoorn/followers","following_url":"https://api.github.com/users/gavanderhoorn/following{/other_user}","gists_url":"https://api.github.com/users/gavanderhoorn/gists{/gist_id}","starred_url":"https://api.github.com/users/gavanderhoorn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gavanderhoorn/subscriptions","organizations_url":"https://api.github.com/users/gavanderhoorn/orgs","repos_url":"https://api.github.com/users/gavanderhoorn/repos","events_url":"https://api.github.com/users/gavanderhoorn/events{/privacy}","received_events_url":"https://api.github.com/users/gavanderhoorn/received_events","type":"User","site_admin":false}],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ros-planning/moveit/pulls/931/commits","review_comments_url":"https://api.github.com/repos/ros-planning/moveit/pulls/931/comments","review_comment_url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-planning/moveit/issues/931/comments","statuses_url":"https://api.github.com/repos/ros-planning/moveit/statuses/dd51ced3d189aa25046eb5d7c3d97717aeb947b2","head":{"label":"k-okada:cartecian_path","ref":"cartecian_path","sha":"dd51ced3d189aa25046eb5d7c3d97717aeb947b2","user":{"login":"k-okada","id":493276,"node_id":"MDQ6VXNlcjQ5MzI3Ng==","avatar_url":"https://avatars0.githubusercontent.com/u/493276?v=4","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"repo":{"id":66318343,"node_id":"MDEwOlJlcG9zaXRvcnk2NjMxODM0Mw==","name":"moveit","full_name":"k-okada/moveit","private":false,"owner":{"login":"k-okada","id":493276,"node_id":"MDQ6VXNlcjQ5MzI3Ng==","avatar_url":"https://avatars0.githubusercontent.com/u/493276?v=4","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"html_url":"https://github.com/k-okada/moveit","description":"The 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