Dennis Hartmann

[ur_moveit_plugin] Use full range in IK if joints support it without solution explosion

8

The solver of ur_kinematics returns solutions in range [0,2PI]. #184 fixed this for the limited version by in effect mapping this to [-PI;PI] range. But this didn't address the issue...

Added calculation of joint velocities.

20

With this PR computed joint velocities are published by JointStatePublisher and can be viewed with rqt plot for example.

Use fixed period for update call of controller manager

2

PR for my suggestion in #126 Tested on KR5 with KRC4 and RSI 3.3 and it works very well both with IPO and IPO_FAST. There is a problem with RSI...