Dave Coleman

I implemented a end effector controller yesterday using `FollowJointTrajectory` and I put your trajectory controller on top of it. The firmware of the robot I'm using wasn't happy when I...

Is your implementation releasable?

I believe it just hasn't been done, and new control methods would be very welcomed. Note that one of the design decisions of ros_control has been to not "chain" controllers...

OROCOS lets you take various components and rearrange them in arbitrary re-usable configurations is all I was saying. I thought chaining is what you meant when you said "combining filters"

Whats the latest on this issue? We have a GSoC student looking into CHOMP this summer. @raghavendersahdev

@raghavendersahdev do you have a pull request with the suggested fix? that is the easiest way to review and test it