Joseph Schornak

How to implement an InteractiveMarker plugin?

1

I saw that the Interactive Marker is already included in the [wiki's list of features needed for Rviz2 parity](https://github.com/ignitionrobotics/ign-rviz/wiki/Features-needed-for-RViz-parity). There isn't very much discussion about the architectural and technical route...

I've mostly ported this package to ROS2

1

I was able to get this plugin mostly working in ROS2 in this branch: https://github.com/schornakj/rviz_tool_cursor/tree/feature/ros2-port. It's a little buggy still (in particular the orientation calculation doesn't always work correctly) but...

How to specify a controller to use when executing a trajectory through the MoveGroup ROS interface?

8

When the ExecuteTrajectoryAction MoveGroup capability [pushes a new trajectory](https://github.com/ros-planning/moveit2/blob/14d2a932c74ab1dc6bed652738d17ee2bae23d4f/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp#L111) to the TrajectoryExecutionManager, it does not have a way to set what controller should be used to execute the trajectory. This...

Make RosTopicSubNode a StatefulActionNode and handle different reliability QoS configurations

2

There were two things I wanted to improve about the RosTopicSubNode: 1. The requirement that `onTick` must strictly either return `SUCCESS` or `FAILURE` doesn't match up well with the process...

Update for Ceres 2.2 and Ubuntu Noble

1

Hello! I'm using this project on Ubuntu 24.04, which requires at least Ceres 2.2. These are the changes I needed to add to get the non-ROS part of this repo...

Allow setting minimum timestamp delta between trajectory points in Iterative Spline Parameterization

5

I ran into a situation where I needed to enforce that the differences between timestamps for consecutive trajectory points were all greater than some minimum threshold. Briefly, this is because...