Revision history [back]

Considering that RRbot has continuous joints, the error value is being computed here. It's very likely that floating point computation errors are the culprit. I encountered a similar situation when implementing the joint_trajectory_controller, and I ended up resolving it locally. It might make sense to open an enhancement ticket to the angles package to allow an optional tolerance parameter to the shortest_angular_distance method. This way the issue would get fixed once and for all.