From fe3a0907779b1a105d899a78e5399728bbd58850 Mon Sep 17 00:00:00 2001
From: Paul Gesel <paul.gesel@picknik.ai>
Date: Wed, 6 Nov 2024 02:37:23 -0700
Subject: [PATCH] Fix createTrajectoryMessage (#3064)

* Fix createTrajectoryMessage

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>

* Use std::ceil to handle non-aligned sampling_rate

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>

---------

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
---
 moveit_core/trajectory_processing/src/trajectory_tools.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_core/trajectory_processing/src/trajectory_tools.cpp b/moveit_core/trajectory_processing/src/trajectory_tools.cpp
index b15f0ca9a3..cca3586187 100644
--- a/moveit_core/trajectory_processing/src/trajectory_tools.cpp
+++ b/moveit_core/trajectory_processing/src/trajectory_tools.cpp
@@ -87,7 +87,7 @@ trajectory_msgs::msg::JointTrajectory createTrajectoryMessage(const std::vector<
   }
   trajectory_msg.joint_names = joint_names;
   const double time_step = 1.0 / static_cast<double>(sampling_rate);
-  const int n_samples = static_cast<int>(trajectory.getDuration() / time_step) + 1;
+  const int n_samples = static_cast<int>(std::ceil(trajectory.getDuration() / time_step)) + 1;
   trajectory_msg.points.reserve(n_samples);
   for (int sample = 0; sample < n_samples; ++sample)
   {