G.A. vd. Hoorn

We have a couple of unit tests already, and #172 will add some more. Right now these are built as part of the main executable, but that's not needed. We...

Release `FollowJointTrajectory` -> point queue conversion node

10

During `beta1`, a `FollowJointTrajectory` action server was implemented that uses the `queue_traj_point` service offered by MotoROS2 ([docs](https://github.com/Yaskawa-Global/motoros2/blob/5d594ee0216ad46aa19a1b16d1467fd0168f1367/doc/ros_api.md#queue_traj_point)) to stream `JointTrajectory`s of "infinite" length to the controller. This works around the...

Make example MoveIt 2 configuration package(s) available

28

MoveIt 2 is non-trivial to configure. Especially when *not* using `ros2_control`, as almost all available documentation and examples assume `ros2_control` is being used. We give some hint(s) in the `README`...

Log (also) to rosout

2

This is for #21. Draft currently, as this is a rebase of old code on top of current `HEAD` and I haven't tested this recently. Enabling `rosout` logging was simpler...

Add `get_position_fk` service (fwd kin)

4

WIP as I've not tested this and it's not finished. But wanted to open it already to perhaps discuss some aspects. Open tasks: - [ ] implement actual functionality -...

Make status IO signals configurable

3

MotoROS2 currently has a hard-coded set of IOs it uses for signalling internal application status: https://github.com/Yaskawa-Global/motoros2/blob/08329e5a1646315bffb5effdb40857eaea343523/src/ControllerStatusIO.h#L11-L27 These indices should be made configurable, to allow users with conflicting IO assignments to...

Write an issue template

1

As per subject. Help users report issues with sufficient information to make/keep them actionable. Additionally, clarify when the *Discussions* board should be used instead of posting issues.

Slow down RobotStatus publication

2

We currently publish `RobotStatus` at the same rate as `JointState`. That's unnecessary, and also different from how MotoROS1 did/does it. High frequency publications come with drawbacks. They: 1. increase network...

First debug log message after connecting to Agent has all-zeros timestamp

1

Minor, but the very first debug listener message received after MotoROS2 connects to the Agent has an all-zeros timestamp associated with it: ``` [2023-07-14 18:14:40.488481] [192.168.255.1:61992]: THU 1970-01-01 00:00:00.000 Found...

Check use of unsafe stdio functions (`sprintf(..)`, `vsprintf(..)`, etc)

4

MotoROS2 uses quite a few of the functions in `stdio.h` which are involved in manipulating in-memory buffers, and potentially unsafe IO operations. Examples are: `printf(..)`, `sprintf(..)`, `snprintf(..)`, `strcpy(..)`, `strncpy(..)`, etc....