Michael Wiznitzer

I tested these changes on a project I'm working on and can verify they work. LGTM!

I had a similar issue when using rolling instead of humble (even when the source build of srdfdom was in my workspace) and running `apt-get remove ros-rolling-srdfdom` and recompiling fixed...

I could see this being the intended behavior since if you set the goal_time param to zero, that is effectively saying, wait an indefinite amount of time until the goal...

While #498 addresses the issue in option 2, that is only true if the execute function is called within MTC. However, if a goal is sent to the execution_task_solution server...

@swiz23 noticed a segfault in the JTC specifically when aborting a motion, followed by deactivating, followed by activating where the segfault would occur. After looking at this PR, I think...

Has anyone tried running this package with the sphero mini? I'm curious to know it's compatible.