Erik Holum

> My understanding from reading [here](https://answers.gazebosim.org//question/26596/how-to-use-simulation-time-between-ros2-and-ignition-gazebo/) is that one just needs to set use_sim_time to true for the Servo node, then it would start using the Gazebo clock. No code...

@fabriros most likely this - https://github.com/ros-planning/moveit2/issues/2749?

> I think we need Cartesian servoing to see this in action. This is just amazing. https://github.com/sea-bass/pyroboplan/assets/7966037/b57de32e-15e6-498f-aa0a-c912dd3e9b8b https://github.com/sea-bass/pyroboplan/assets/7966037/0e83aaa2-2f9f-4ee3-bc93-b4efa19565db

Not yet! I had started writing a Cartesian interpolator but I won't get back to it for at least 2 weeks. Happy to help review anything, though, @muhidabid.

Thanks @rhaschke. Do you have any ideas on versioning the docs for the `ros2` and `master` branches? We're not sure how simple it will be to support multiple branches on...

> I haven't considered versioning the docs so far. But moveit2_tutorials is already using different versions, isn't it? Yep! The moveit2_tutorials use [sphinx multi-version](https://github.com/ros-planning/moveit2_tutorials/blob/main/conf.py#L80), combined with some [matrix magic in...