Dr. Denis
Wait! We maybe don't need that! :) This is basically a PID controller. The question is does this separate name adds any value to it. Or should we stick with...
The PR is testable and workable (almost in production already :D) But I didn't have a chance to finish up the tests.
> concerning closed-loop mode: I'm not sure if this is necessary, shouldn't the trajectory generator be aware of the current state? But I guess there might be configurations where this...
Sounds reasonable to me. Let's start with simple fixes, e.g., `set_nsec` and then move to the more complex ones. Many this are much better to understand if you see it...
After your discussion here, I am just more convinced that we need T+dt. It was like this in ros_control and everybody were happy. Currently, we try to do work around...
You interfaces are claimed. Therefore, they are passed. (I am quite certain because having a bug there would influence all the tests and users we have). Which version, hardware interface...
@Xi-HHHM can you please check this?
obsolete for now and duplicate to the restructuring effort
obsolete.