Felix Exner (fexner)

I'm planning to split things up a bit into separate PRs to make things with a smaller scope, especially when it comes to adapting the tests. - Use $t+\Delta t$...

> Any updates ? :D I almost finished the t+dT change on https://github.com/fmauch/ros2_controllers/tree/jtc_tdt. This change still makes tests fail which I have to investigate: https://github.com/fmauch/ros2_controllers/commit/f4530490e310cd5ee1aafe4cd8962015df34ffb5#diff-8dd2135dc1f4abe6382cc7671ef9ce939196b2d8adf18ac3a77b5c0fddf1a25fR287

Update: #1306 implements sampling at $t + \Delta T$. Furthermore, https://github.com/ros-controls/ros2_control/pull/1774 should fix incorrect controller periods reported to the controller. With this the next step would be to propagate through...

Another update: - [x] Use t + Δ t in the JTC (implemented in #1306) - [x] Calculate the sample time based upon passed periods instead of the absolute time....

This should be a state that could be started to get reviewed. There are a couple of things left that I'm not 100% happy, but they don't necessarily have to...

> ~I had a look now, I don't know tbh. The debian build fails with the same error, but this one doesn't use caches.~ Ah, I found the issue ;)...

@RobertWilbrandt would you mind taking a review on this, as well, since you use it yourself AFAIK.

Sorry, for opening this again, but going through the unresolved comments, I refined the docstring requested in https://github.com/ros-controls/ros2_controllers/pull/1191#discussion_r2162069371 and extended the userdocs regarding https://github.com/ros-controls/ros2_controllers/pull/1191#discussion_r1870812258.

The changes from https://github.com/ros-controls/ros2_control/pull/1788 require revisiting the tests from this. I expect, that tests on the master branch will fail, as well, however, since I had to set correct rates...

In [0d00727](https://github.com/ros-controls/ros2_controllers/pull/1306/commits/0d00727ff1d3570ee6a67cb05df6953e07998e6e) I implemented using the trajectory sample point at time `T` as the `desired_state`. This is used for checking the tolerances, generating the feedback's desired state and error and...