alain-m

Does JointTrajectoryController assume that joints are rotational?

3

Does `JointTrajectoryController` assume that joints are rotational - continuous, revolute - instead of linear - prismatic -? I cannot find any such assumption documented on the wiki or in the...

JointTrajectoryController: goal time tolerance is only enforced during the last segment of the trajectory

1

Reading how state/time tolerances are checked at https://github.com/ros-controls/ros_controllers/blob/12a70baee38bf198ad434ad704b353621b23c61a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L399-L456 it seems that `goal_time_tolerance` is only used on the last segment of the trajectory - inside `else if (segment_it == --curr_traj[i].end())` -....

JointTrajectoryController: error_string in Result is not populated when the goal is aborted for violated tolerances

1

The `error_string` field in the result of `control_msgs/FollowJointTrajectory.action` - http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html - does not seem to get populated when a goal is aborted because of either PATH_TOLERANCE_VIOLATED or GOAL_TOLERANCE_VIOLATED, i.e during...

`dynamic_reconfigure` provides convenient features to set parameter values after the initialization of the node, but also to have parameter changes mirrored with the parameter server. This last feature has contributed...