Felix Exner (fexner)

> > 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...

> Yes, this may definitively happen, especially once we actually get to time-scaling as it is my overall target with this. I'm not entierly familiar with #1297, so I'll have...

Sorry for the late answer. Currently, we store the joint currents in the efforts field: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/a8c3a4353b4fe32ede7c1c8f2eeae4b167da9e01/ur_robot_driver/src/hardware_interface.cpp#L539 This isn't completely correct, but as you wrote they should be proportional to the...

Is there any error output in the driver / the robot's logs? Without that information it is pretty hard to tell what is actually going wrong.

> https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/395c0541b20d0da2cd480e2ad85b2100410fb043/ur_robot_driver/src/hardware_interface.cpp#L159 Could you please post the full output? > For the robot log, how can I export a log from the real robot? - Insert a USB drive into...

> while the new one `--controller-manager-switch-timeout` is for the switch_controller service. For example, it fails if the controller does not activate within the given timeout when the RT update method...

Hi, > the value changes about 5 minutes later, even though UR is not moved. Yes, the internal sensor drifts over time, see #294. Hence, to some extent this is...

Sorry for not answering this so far. I am not familiar with xenomai and therefore cannot give a qualified answer. Regarding the second question: The difference lies in the underlying...

I don't think I'll have anything to add to what has been written. Therefore, closing this.

We are currently implementing this inside #35. Does that fit your needs?