Vahid Aminzadeh

Trajectory controller with gravity compensation or variable static friction compensation

1

If gravity compensation (using KDL for example) or variable static friction is required, currently there is no way of adding the output of such compensator to the joint command. It...

added repitition to robot_description reading

10

fixes #52

robot_state_publisher fails if the robot_description is not immediately on parameter server

3

I have a system that generates the urdf based on a hardware scan. Ideally robot_state_publisher should retry a few times (or after a given delay) before failing.