Michael Ferguson

YAML config should include: - list of [rotation speed, number of rotations]. - speed at which to do forward rollout test.

Create smoother calibration_poses.bag

2

The current bag file moves the arm around a lot more than it probably needs to. Poses should flow better. At the same time, it would be worth adding some...

Add runtime tests to make sure basic features work.

The files in "joint_limits_copy" directory are in ros2_control (in a package called joint_limits) - but without the namespace support. #1443 renamed these files to make our debian files installable.

MoveitConfigBuilder: capabilities is unused

1

### Description move_group_capabilities is defined at https://github.com/ros-planning/moveit2/blob/main/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py#L106 - but is never actually filled in or loaded from a yaml file There isn't a clear way to define the loading of...

In ROS2, parameters are naturally dynamic. We should use that to add the ability to reconfigure the PID class.

Installation instructions for ddsperf on Mac?

4

## Bug report **Required Info:** - Operating System: - MacOSX Catalina - Installation type: - Source - Version or commit hash: - e0bfe464741eaa1691a5ed5a1f4c814ad7164062 - DDS implementation: - rmw_cyclonedds_cpp - Client...

kinect_pipeline should be updated to new-style topic names

4

Still uses the old openni_camera names, doesn't account for depth_registered stuff.

Joint commands should be action-based. Do this for hydro as it is API-breaking under groovy.