jschleicher

Thanks for your pull request, @robinedwards! This package has been [integrated upstream into moveit master](https://moveit.ros.org/moveit/pilz/motion%20planner/2020/12/17/Pilz-Plugin-for-MoveIt.html). Please file a PR on ros-planning/moveit against the master branch. I'll then be happy to...

> @jschleicher maybe you should archive the repository then We're still waiting for a melodic and noetic release of moveit upstream - since months...

> do backports @v4hn The backport was merged in ros-planning/moveit#2507. So what else needs to be done?

@martiniil Why not use the `condition` attribute to keep the difference small between melodic and noetic branches?

> * But why do we have to switch to their ci? Is this required for the moveit master to build? This one we need to discuss. Yep, I didn't...

> Doesn't `DOCKER_IMAGE` allow you to do this ([index.rst](https://github.com/ros-industrial/industrial_ci/blob/08cbc8cd6655b345e306dda677fe9df4a42f7284/doc/index.rst), search for `DOCKER_IMAGE`)? Just specifying the image does not overlay the pre-built workspace (see [travis job](https://travis-ci.org/PilzDE/pilz_industrial_motion/builds/595983124?utm_source=github_status&utm_medium=notification)) and how could I specify...

I'm not sure if, the firmware offers a stopping command in the meantime. My latest information is, that "halt" does close the brakes and thus wears out the mechanics, which...

The joint values sent by the controller should obey the joint limits for both velocity and acceleration. That's what the configuration values are meant for. But this issue is about...

The first option sounds like a quick fix. So I'd prefer to increase the limit inside the controller by 5-10% for now. I'll add a PBI to determine the actual...

I see several options and are open for discussion: 1. From a single-point-of-control, the recorded robot state from the last plan-and-execute-request should still be the current robot state of the...