Joseph Schornak
Joseph Schornak
`Warning: Group 0 - Time difference between endTrajData (...) and startTrajData (...) is 0 or less.`
Following up after digging into this more -- this is all upstream of MotoROS2 in the motion planning and time parameterization part of my system, so it's not related to...
> However I don't really understand the need to wait for a message. I've found that this is a very common situation when handling robot state messages or sensor data...
> @schornakj Did you end up finishing this up to your satisfaction or finding a different approach? This seems like something it'd be good to have. I made this PR...
> Just turn off moveit_manage_controllers so trajectories execute with that controller by default, instead of searching for an active controller. Setting `moveit_manage_controllers = False` would require me to switch between...
> The ros2_control resource manager should prevent that. What do you mean when you say "prevent"? I should expand a bit on what I posted earlier to be clearer: If...
> I'd prefer something even simpler: just take what's in the [yaml file](https://github.com/ros-planning/moveit_resources/blob/394a3c6aba9da34d5317697fdb0db2c9acc8ebd8/panda_moveit_config/config/moveit_controllers.yaml#L10) as the default. If the default is not active, then so be it. MoveIt shouldn't be searching....
Allow setting minimum timestamp delta between trajectory points in Iterative Spline Parameterization
> @schornakj: is this related to [Yaskawa-Global/motoros2#255](https://github.com/Yaskawa-Global/motoros2/issues/255)? @gavanderhoorn Yes, this PR is where I ended up after digging into my motion planning stack to diagnose the issue I described in...
Allow setting minimum timestamp delta between trajectory points in Iterative Spline Parameterization
@Levi-Armstrong @marip8 alrighty, this is ready for review. I've been running this branch on my robot (a Yaskawa GP180-120 with a YRC1000 controller) and it resolves the issue I described...
@berkealgul go for it, I don't think anyone else is working on fixing this yet.
@berkealgul did you have a chance to get started on this?