G.A. vd. Hoorn

Marking this as an issue for wrid19 as it'd be nice to get a final answer to this in addition to @atenpas' answer. Note: this issue is also part of...

I only have time for a short reply now, but yes, full body control (to put it like that) with SDA robots has been done before. A regression in this...

It's very difficult for me to support this, as I don't have access to the hw and cannot simulate it. As I wrote in https://github.com/ros-industrial/motoman/issues/251#issuecomment-439319458, a regression may have been...

> @Danfoa Thanks for your hints. I can try to get a Ubuntu 14.04 with Indigo and test the full body operation on it. On the mean while, I will...

Let's keep this open until #259 is reviewed and merged.

This seems all related to #226, which discusses these and other issues. See also the issues referenced in #226.

To be clear: this is a message from ROS _to the controller_. Messages from MotoROS are ok.

Issue also does not seem to occur on single-group controllers (or at least: on ROS setups not configured to use the multi-group infrastructure in `motoman_driver`).

More testing seems to indicate that this never happens for "the first" trajectory point.

Shaun Edwards wrote: > These are definitely placeholders. I don't have much hope that we will get this information from the vendor. We might consider leaving these values out entirely...