Felix Exner (fexner)

Potential memory issues in tests

1

While implementing #884 I've experienced tests failing / crashing without any directly visible cause locally on my machine, while things seemed to work in CI. This lead me to further[...

Real time benchmarking / reasoning

6

This PR aims at providing more detailed information about setting up a system for stable communication with the robot. This is best combined with https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/139 Planned additions (maybe other PRs)"...

### Feature summary Add UR30 to possible starting configurations. Same as #659 ### Tasks *To complete this issue involves* - [ ] Implement the feature - [ ] Make documentation

It appears we never properly documented the purpose of the tool0_controller frame.

Use receive-timeout instead of keepalive_counter

1

### Feature summary Update to client lib's latest changes to remove a deprecation warning Recently we [added](https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/178) the option to define the receive timeout on the robot. This produces a...

### Feature summary The `use_mock_hardware` option from the moveit launchfile might be not needed anymore. Following up on https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/discussions/827 it seems that We can use MoveIt with the scaled JTC...

### Feature summary Port state helper node from ROS 1 https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/robot_state_helper.cpp ### Related issues Some work has been done in #6 ### Tasks *To complete this issue involves* - [...

Passthrough controllers

1

### Feature summary We should implement a trajectory forwarding controller similar to https://github.com/UniversalRobots/Universal_Robots_ROS_passthrough_controllers We already have multiple possibilities to forward trajectories to the robot controller instead of interpolating it on...

Add Moveit startup tests

3

This should help us finding Moveit related errors like the one fixed in #906 earlier. ## ToDo: - [x] Add basic startup test - ~~[ ] Fix servo_node startup (the...

Moveit_servo not working / crashing

1

### Affected ROS2 Driver version(s) c4d8d6138e09d3be3737f9b047a459c259075da2 ### Used ROS distribution. Rolling ### Which combination of platform is the ROS driver running on. Other Linux system ### How is the UR...