Mahmoud Farshbafdoustar issues

Results 5 issues of


                                            Mahmoud Farshbafdoustar

Feature/rsi io

adding compatibility to RSI 4.x by providing a seperate ros_rsi.rsix

Tested on KSS 8.5

joint_trajectory_controller setHoldPosition could lead to unexpected delay in RT loop when called from inside of RT thread

The [ curr_trajectory_box_.set(hold_trajectory_ptr_);](https://github.com/ros-controls/ros_controllers/blob/c255fca46fbb5a8557eb5f66f9d5364c3880fe07/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L747) in setHoldPosition is putting the hold_trajectory_ptr_ in the box. If the pointer already in the box, is the last pointer to the current trajectory, the memory pointed...

EGM moves joints different than the commanded value

I'm using the driver in conjunction with pos_vel_controllers/JointTrajectoryController that uses PosVelJointInterface adapter in the lower level that Forwards desired positions with velocities as commands . During the process I'm commanding...

Having possibility to define detected ports by model importer as OPTIONAL ports

**Is your feature request related to a problem? Please describe.** current model importer detects all ports in the xml node and tries to check the next occurrences with the same...