WIP: Fix loading home gait error

march_rqt_gait_generator/src/march_rqt_gait_generator/gait_generator_controller.py

@@ -227,6 +227,12 @@ def import_gait(self):
             return
         if gait.gait_type is None or gait.gait_type == '':
             gait.gait_type = 'walk_like'
+
+        if any([len(joint._setpoints) == 1 for joint in gait.joints]):
+            rospy.logwarn('Cannot load a gait with only one setpoint')
+            self.view.message(title='Error', msg='Cannot load a gait with only one setpoint')
+            return
+
         self.subgait = gait
 
         was_playing = self.time_slider_thread is not None

march_rqt_gait_generator/test/nosetests/gait_generator_controller_test.py

@@ -188,6 +188,17 @@ def test_import_gait_cancel(self):
         except FileNotFoundError:
             self.fail('Import gait raised FileNotFoundError')
 
+    def test_import_gait_one_setpoint(self):
+        subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(rsc=self.resources_folder,
+                                                                         gait='home',
+                                                                         subgait='home_sit',
+                                                                         version='MIV_ankle_0')
+        self.gait_generator_view.open_file_dialogue = Mock(return_value=(subgait_path, None))
+        try:
+            self.gait_generator_controller.import_gait()
+        except TypeError:
+            self.fail('Import gait raised TypeError')
+
     def test_import_gait(self):
         self.gait_generator_view.open_file_dialogue = Mock(return_value=(self.subgait_path, None))
 

march_rqt_gait_generator/test/resources/home/home_sit/MIV_ankle_0.subgait

@@ -0,0 +1,39 @@
+description: Home sit gait for the sitting block. This version has 5 degrees more
+  hip extension in comparison to the MIII home gait
+duration: {nsecs: 0, secs: 3}
+gait_type: ''
+joints:
+  left_ankle:
+  - position: 0.0
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  left_hip_aa:
+  - position: 0.0
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  left_hip_fe:
+  - position: 1.2217
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  left_knee:
+  - position: 1.5708
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  right_ankle:
+  - position: 0.0
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  right_hip_aa:
+  - position: 0.0
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  right_hip_fe:
+  - position: 1.2217
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+  right_knee:
+  - position: 1.5708
+    time_from_start: {nsecs: 0, secs: 3}
+    velocity: 0.0
+name: home_sit
+version: MIV_ankle_0