Hugal31

Currently, only the RRTstar, BITstar, RRTXstatic and the CForest uses `ProblemDefinition::getIntermediateSolutionCallback`. It would be great to support this feature in other planners, such as the PRMs, SST, etc... PR #854...

The LazyPRM tries to find a solution while the termination condition is not true, or if the optimization function is satisfied, and then give the solution to the problem definition...

Use xacro.load_yaml instead of plain load_yaml

3

A direct call to the `load_yaml` function is deprecated. Use the namespaced variant `xacro.load_yaml`. Otherwise, with xacro 1.14.10, we get ``` Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead ```

Multi-controller trajectories are not canceled when one controller aborts.

2

### Description When executing multi-controller trajectories, if one controller aborts (e.g. due to a path constraint violation), the other controllers are not stopped. Example of use case: I have a...

**Is your feature request related to a problem? Please describe.** I want to be able to do move actions while pre-computing some complex trajectories I will do later. However, MoveIt!...

As said in #153, some defined function in the internal namespace are not inlined in [joint_trajectory_controller_impl.h](https://github.com/ros-controls/ros_controllers/blob/252d6584b17ae88e614a6c9cd30ba76ef258a193/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h). This cause a "duplicate definition" issue when trying to link a library that include...

Unroll parameters when using type="yaml" with the param tag.

1

Make the `` tag unrolls the parameters when using `type="yaml"`, just like the `` tag does. Closes ##2115

Allow to stream "stopless" trajectories executions

9

**Is your feature request related to a problem? Please describe.** I want to execute a very long trajectory (multiple minutes). However, to avoid wasting time computing such a long trajectory,...

**Is your feature request related to a problem? Please describe.** I have a few feature in mind that are maybe a bit too specific to be implemented and maintained by...

The syscalls (mainly the blocking one, [poll](https://github.com/ros/ros_comm/blob/dd78ac8af128bb8eb992d6431bb9f994658ea6ab/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp#L173)) are not handling EINTR correctly: they should retry instead of returning (see https://stackoverflow.com/questions/2957759/using-gprof-with-sockets). This make profiling ROS programs impossible, as it will cause...