Immanuel Martini

> Yes, the planner planning a trajectory that not violates the limits is one thing. We use the speed override for this: > > https://github.com/PilzDE/pilz_robots/blob/81b2dff62e9142139850a58e718d13d5355cfb97/prbt_hardware_support/src/operation_mode_setup_executor.cpp#L43 The purpose of setting the...

> 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...

For better understanding this picture shows the desired joint velocity of a single joint at the beginning of a PTP trajectory (Acceleration limits disabled). The acceleration with which the trajectory...

@jschleicher For the demo program we need more than 100% increase of the limit inside the controller. See https://github.com/PilzDE/pilz_robots/pull/442

LIN trajectory with acceleration scale `0.1`: 

The oscillations shown above happen for LIN and CIRC. I guess the crucial point is the computation of the velocities in the trajectory points. For PTP the velocities are obtained...

@clalancette Can you shed some light on the state of `console_bridge` in ros2 for us? I saw that the `class_loader` uses it (since it is ros-independent), whereas in pluginlib the...

needs https://github.com/ros/rosdistro/pull/24929

Only guessing: from `class_loader_core.cpp`: ``` // Insert into graveyard // We remove the metaobject from its factory map, but we don't destroy it...instead it // saved to a "graveyard" to...

I opened an issue: https://github.com/ros/class_loader/issues/131