ros-planning
Discuss some force-pushed changes
@rhaschke I have some questions around the changes you created on the ros2 branch. I'd like to use this PR to understand them better and potentially make some updates.
Thanks for your questions. I hope I answered all of them. Unfortunately, the diff link I provided originally, doesn't allow for comments. I just noticed that now. I'm collecting fixups to the ros2 branch in a new PR: #547. Thanks for your input! Did somebody already figure out, why the default goal reaching threshold is relaxed in ROS2 compared to ROS1?
@rhaschke Thanks for your detailed explanations. That is very helpful and going through you changes was insightful too!
Did somebody already figure out, why the default goal reaching threshold is relaxed in ROS2 compared to ROS1?
I can take a look into it. With Michael's change ported to moveit2 the MTC pick and place demo worked for me without needing to adjust the threshold but maybe I am missing something here.
The MTC pick and place demo worked for me without needing to adjust the threshold.
The code using this threshold was only recently added in the master branch. So, if pick+place worked before on the old ros2 branch, this doesn't come at a surprise for me.
Dear @sjahr, can we close this? I think all changes were discussed.
Also, I would like to remove the branch ros2-old. Did you and your colleagues at PickNik successfully migrated to the new branch?