Christoph Fröhlich

I haven't seen the changes from your version, sorry. Maybe @sachinkum0009 can have a look? @saikishor designed the example, imho the graph posted above isn't correct?

@mauriz @splatter96 @DoppiaEffe94 can you please add your review to this PR (In the "Files changed" tab in the upper right corner: "Review Changes"? Compile the plugin from source, and...

> Sorry that is a quick review, just minor comments. See if that is reasonable Thanks for proof-reading. There is a little button in the code comment UI to include...

> Do you want me to open a new PR for the merge request? No you don't have to make a PR for humble. If it is merged to rolling...

@machineIntelligence you haven't written if you have compiled the code from this PR or speaking of the released version? From your gzserver output, it seems that there is a leading...

Not as far as I know, but this would be a great feature. Feel free to open a PR on adding such configuration options for every interface. I'd also include...

:eyes: @destogl `test_no_jump_when_state_tracking_error_not_updated` fails now, I guess due to the `last_commanded_time_` change.

Yes I think this is what @ahcorde suggests. Don't forget to register the handles in `registerJoints` and the control bits in `perform_command_mode_switch` for the new tags. Please also add a...

> Sorry for the confusion with the CI I was not running pre-commit with the arg --all-files so I was not seeing all error @ahcorde Fyi: If you use the...

Could you please check the docs if this is clearly documented how to fill the `trajectory` field? [Here](https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/trajectory.html#trajectory-replacement) is a comment, but maybe we should add this in a more...