mikramarc

Hi, I seem to have a similar problem with joint trajectory controller - if the joint ever reaches the joint limit, it becomes unrecoverable - all the next joint trajectory...

HI [rcywongaa](https://github.com/rcywongaa) any idea about the status of that? Or have you maybe found a reasonable workaround?

@saikishor There's actually an overloaded function that lets you pass a subscriber with specific QoS set [here](https://github.com/ros2/rclcpp/blob/foxy/rclcpp/include/rclcpp/wait_for_message.hpp#L39). However, when I tried using that with a transient local subscriber, e.g.: `auto...

OK, after further investigation it seems that it's not the gravity that is the problem - when I spawn the robot the joint very temporarily moves outside of the 0.0...