b3c2c21.bug

%YAML 1.1
---
id: b3c2c21
title: Robot jumps to the first point of the new trajectory
description: >
  The problem was caused by using absolute, instead of relative
  time, when resetting the old trajectory to a new goal.  On_goal()
  function of the trajectory action server in the ur_driver
  driver.py file, the sample_traj() function was not being called
  correctly. It used the absolute time (from time.time()) instead
  of the offset into the previous trajectory which is used in every
  other call of this particular function.
  As a result the robot would attempt to perform an abrupt fast
  jump to a new trajectory.
  The bug is an improper contract fullfillment although it was not
  an 'abuse', as it was not intentional.  The problem can appear is
  any continous control or planning application, and as that it is
  not ROS-specific, but robotics-specific.
  The second pull request is a case of porting up of the same bug
  fix to a newer development branch (indigo).
classification: "CWE-628: Function Call with Incorrectly Specified Arguments"
keywords: ['planning', 'trajectory', 'absolute time', 'relative time']
system: universal_robot
severity: error
links: []
bug:
  phase: runtime
  specificity: robotics-specific
  architectural-location: platform code
  application: null
  task: manipulation
  subsystem: driver
  package: ros-industrial/universal_robot/ur_driver
  languages: null
  detected-by: developer
  reported-by: contributor
  issue: null
  time-reported: null
  reproducibility: sometimes
  trace: null
fix:
  pull-request: https://github.com/ros-industrial/universal_robot/pull/157 | https://github.com/ros-industrial/universal_robot/pull/189
  fix-in: ['ur_driver/src/ur_driver/driver.py']
  languages:
    - Python
  time: 2015-03-12 (14:44)
  commits:
    - repo: https://github.com/ros-industrial/universal_robot
      hash: b3c2c215b4fc46bb66ca61e6e693920540d0daef
      stats:
        total:
          insertions: 1
          deletions: 1
          lines: 2
          files: 1
        files:
          ur_driver/src/ur_driver/driver.py:
            insertions: 1
            deletions: 1
            lines: 2
fault-codes:
  - PROGRAMMING:CALCULATIONS
  - CONCURRENCY:NO-SYNC
failure-codes:
  - SOFTWARE:BEHAVIORAL
  - SYSTEM:BEHAVING-INCORRECTLY