G.A. vd. Hoorn
G.A. vd. Hoorn
`Warning: Group 0 - Time difference between endTrajData (...) and startTrajData (...) is 0 or less.`
@ted-miller: should we perhaps increase resolution [here](https://github.com/Yaskawa-Global/motoros2/blob/9f5ccf6dcf86cb3be340c850cb3aa990aa9c4bd6/src/CtrlGroup.h#L47) to something smaller than milliseconds? Datatype already allows for it, we'd have to audit the code though.
Context: #266 (among others).
This could have helped with #292 as well.
We should be able to use [macro stringification](https://gcc.gnu.org/onlinedocs/cpp/Stringizing.html) to avoid having to create `N` different versions of `motoRosAssert(..)`. There are various C / C++ unit testing frameworks which use this...
Could be a controller issue. `fzi-forschungszentrum-informatik/cartesian_controllers` had a similar case reported earlier: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/pull/78. --- Edit: and could also not be, seeing the analysis @shonigmann included.
> I think the package index is lying to us... For checking state of (released) packages, I'd only check what [repo.ros2.org/status_page](https://repo.ros2.org/status_page/) says. For the Kinova pkgs: - [status_page/ros_rolling_default.html?q=kinova](https://repo.ros2.org/status_page/ros_rolling_default.html?q=kinova) - [status_page/ros_jazzy_default.html?q=kinova](https://repo.ros2.org/status_page/ros_jazzy_default.html?q=kinova)...
Would an action be nicer, semantically? Start of action -> enable freedrive. Cancel action -> stop freedrive. The goal client handle would become something similar to a 'token' or 'mutex'...
One aspect that would need some thought though: time-out (ie: when should freedrive be stopped due to the client no longer 'responding'). There might be some way to exploit liveliness...
High-level comment (nice work already though): the (proposed?) action is called `EnableFreeDriveMode`. To me (non-native speaker though) this implies the action of *enabling* freedrive mode -- so changing the state...
> I wrapped my head around this and I currently don't see a way of doing this. I haven't looked into it, but would there be a way to retrieve...