Felix Exner (fexner)

> I am not sure it this is the right way. I would prefer to guide people setting this up on the teach pendant. Though they need to remember to...

> I like the idea of giving the flexibility to do both. I've updated the PR accordingly. When not passing the domain, it is not set in the RTDEWriter.

Thoughts on tests I should implement: - Execution with scaling factor of 0.5 takes twice as long (and does not fail, when no tolerances are set) - Execution with scaling...

> From heavily using this controller in our system I have the opinion that in most use cases it makes sense (and is what a user would expect) that the...

I've took some time to think about the controller's behavior and currently, it should be like this, right @firesurfer? - Execution with scaling factor of 0.5 takes twice as long....

My concern is mainly this: If you have an application and you execute a trajectory on a robot that does speed scaling. The trajectory gets slowed down due to safety...

Update on the tests: - testing is currently difficult in this repository, see https://github.com/ros-controls/ros2_controllers/issues/1101 - There is also a crash in one of the tests, I will open a separate...

> @fmauch I guess given that you can't run any of the tests at the moment you didn't start to implement any of the new tests we discussed before? Precisely....

I was sick yesterday, but I'll try my best to squeeze in the tests until the end of the week.

> @fmauch what's the current state ? I've spent some time last week (or the week before?) on trying to get the tests running correctly. With that I realized that...