Mathias Fuhrer

Continuous execution of motion primitives with blending in InstructionExecuter when sending single primitives

2

### Feature summary I would like to send new motion primitives live to the InstructionExecuter. Since the full trajectory is not necessarily known at the start, using a MotionSequence is...

Hardware interface for sending motion primitives to the robot via the Instruction Executor instead of trajectories

5

This PR extends the `ur_robot_driver` package with a hardware interface for sending motion primitives to the robot via the Instruction Executor instead of traditional trajectory execution. To reuse the state...

Support for motion primitives from trajectory controller controller ([ros-controls/ros2_controllers#1858](https://github.com/ros-controls/ros2_controllers/pull/1858))

Add motion_primitives_from_trajectory_controller with trajectory approximation using PTP/LIN primitives

4

This PR adds the motion_primitives_from_trajectory_controller. To make reviewing easier, another PR #1857 was created first to move shared functionality into a base controller. This PR replaces PR #1837. This PR...