Dennis Hartmann

> The velocity profile is just the differences between the last two sent position commands. Without dividing by duration? The spikes in the TOTG graph always come in pairs with...

I'll make a PR soon. I already tested a bit and updated #95 with velocity graphs. I'm still unsure, if only the duration parameter should be set constant or if...

#119 probably fixes this.

@rtonnaer's problem as described here seems to be a completely different one. @gavanderhoorn are you still getting the original faults of this issue?

Your original issue as I understand it was that the controller faults and aborts the program after some time, whereas rtonnaer never described(at least in this issue) the controller to...

This PR changes only searchPositionIK, which is expected to return only one solution, ideally the closest solution to the seed. Moveit uses this function almost exclusively for planning and not...

Thanks for writing the test but there are some mistakes which make your result not correct. In the launch file change `` to false because the whole point of this...

The workaround works for me with RSI 2.3.

> I've not looked at the code yet (I really should), but for now: are you referring to the fact that the code adds 2pi to solutions and assumed that...

There is of course some noise but I assume velocities directly from robots which have that capability would have some noise as well. It was usefull for debugging for me....