G.A. vd. Hoorn

I've updated the title so we don't need a new ticket.

I think it might be nice to namespace the JTA for all joints to avoid this sort of confusion, so I've submitted #189.

If this is just a single parameter, you could add it with a default value to the macro. An alternative might be to actually make the flange a separate xacro...

There are a few xacros of IIWAs available to the ROS community. It might be an idea to see how they approached this.

There are two main causes for jerky motions that have been identified so far: 1. OMPL planning in combination standard IPTP 1. non-jerk limited/aware time parameterisation on the MoveIt side...

@BrettHemes, @tingelst, @pgorczak, @destogl, @bj0rkedal: did you guys ever run into anything like this?

No, I'm currently running a `-lowlatency` kernel with `kuka_hardware_interface_node` at high priority. I'm aware of what the readme says, but didn't want to compile a kernel yet if a low...

It's kind of hard to know for certain without additional tests -- as we committed the cardinal sin of changing more than a single 'variable' in our attempts to diagnose...

Seeing as you are on Kinetic, your description makes me think of ros-planning/moveit#416. ros-planning/moveit#160 could also be an influence here (as in: the fact that it hasn't been merged yet)....

I re-opened the issue, but I just realised: are you still getting the `1073: Command gear torque An` errors, or is this something else? If the latter, we should probably...