Dr. Denis

This sounds very plausible. You can open a PR and execute tests and see what they are saying. Maybe there are frew other places where this feedback is used and...

Hi @Jarijaas, this depends on the used hardware (robot). probably your robot is trying to drive maximal velocity (shortest time) between two positions. The current implementation of `joint_trajectory_controller` enables only...

@gavanderhoorn thanks for pointing this. We should than extend this. @Jarijaas would you try to port this from ROS1? We can look at this, but it will take some time...

> I left some comments to help you fix some of the linter issues in case your local configuration doesn't match the expected format. @erickisos thanks! But this was unfortunately...

> If somebody is willing to give a head-start by providing the cpp/hpp dummy classes, I'm happy to finish the work with all logic/algorithms involved! @Timple Are you still interested...

> This may be too nitpicky, but should this package be renamed to `end_effector_admittance`? Somebody else may come along and want to implement admittance at the joint level, which this...

@Mergifyio backport humble

> As far as handling angle wraparound goes, it looks like in ROS1, this function was included in the [Joint Trajectory Controller](https://github.com/ros-controls/ros_controllers/blob/a075bc36ebf5b81a7dafe911907cc1b781dd0185/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_segment.h#L222-L243). Does it make sense for this function to...

@shonigmann in ros-controls/ros2_control#462 we propose the updated structure to read joint limits from yaml file and using it in controllers. Do you find this useful? (Let's continue the discussion on...

> So what version is your all's stuff tested with, galactic? Just curious cause i may just upgrade the project to that version if its been tested and is stable...