Alessio Rocchi

`bpmpd` is used and distributed with `trajopt-ros`, but its license is not distributed alongside the library. It can be fetched [here](http://www.netlib.org/opt/bpmpd.tar.gz) and states the solver is free to use for...

Modify the gazebo_yarp_controlboard plugin to ensure that the control law frequency can be set and is it not harded to the physics update step

9

At the moment, the control is hardcoded to be updated every _T_controller WorldUpdateBegin signals. This means, for .001 simulation step, a 100Hz control loop, and 1Khz control loop for 10Khz...