Dušan Jovanović

Comparing before and after results. Sending custom differential drive robot in Webots from point A to point B with original implementation results in commanded linear velocity as shown on image...

Motion profile generation is done using ```ruckig``` package (it is used inside ```MoveIt2```). Imagine a robot with significant mass driving at moderate/higher speeds towards the goal. We want it to...

> Thanks for the PR, it seems to generate nice smoothed cmd vel. > > However I believe there is a bug with the `rotating_` globlal variable. When rotating at...

> @angstrem98, this PR is promising, any update ? @doisyg Sorry for the delay, I've been busy with other projects. I think I will be able to finish this PR...

> Another question is whether its strictly required to have the angular velocity be set with profiles. I think it depends on the aims and goals of this. If the...

> Is there another proxy you can use rather than keeping some `rotating_` state? For instance, in rotation, check some value which would indicate as such or be able to...

> This needs to be optional to turn off kinematic limiting so that users that don't wish to deeply model their platform can use this without issue. This is a...

``` options: dcf_path: "@BUS_CONFIG_PATH@" master: node_id: 0 package: "canopen_master_driver" driver: "ros2_canopen::MasterDriver" baudrate: 500 sync_period: 10000 # us defaults: dcf: "CDF3000.eds" driver: "ros2_canopen::Cia402Driver" package: "canopen_402_driver" period: 10 velocity_mode: 1 revision_number: 0x00010000...

Changed master node id to 5 randomly and a lot of can traffic appeared. Snippet of current errors: ``` [device_container_node-1] [INFO] [1700945133.423022579] [device_container_node]: Load driver component. [device_container_node-1] [INFO] [1700945133.423135567] [device_container_node]:...

Changing tpdo and rpdo numbers in bus.yml solved previous errors, rotor shaft position is being read properly, but I cannot give command to the motor. Pretty much motor driver does...