Trajectory interface #72
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fmauch
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Setting this back to draft, as @stefanscherzinger and I plan another iteration before merging. @t-schnell it would be nice if you could review that state nevertheless, as it reflects the things that you have done before. |
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@stefanscherzinger 5a66723 and UniversalRobots/Universal_Robots_ROS_Driver@01a1cf0 introduce a done callback for trajectory forwarding. Do you think that this would be a way we could base on? |
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@fmauch , I only skimmed over 5a66723 , but UniversalRobots/Universal_Robots_ROS_Driver@01a1cf0 looks good as a basis. I'll see how to get that back into the PassThroughControllers and where/how to best convert the result flags. |
fmauch
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This will increase backwards compatibility.
fmauch
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Thanks @t-schnell Co-authored-by: t-schnell <tris.schnell@gmail.com>
We should not implicitly open a port that is not exposed in the API interface. With adding this to the API interface (inside the UrDriver's constructor) developers will explicitly know that this port will be opened.
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@t-schnell I worked in all your suggestions. As you stated that otherwise this PR is alright, I will merge it on Monday if I don't hear back from you. |
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Looked over it (quickly), everything seems fine and can be merged. |
Adds the trajectory interface from the beta-testing branch.