[JTC] Hold position if tolerance is violated even during non-active goal #368
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…oal (ros-controls#368) * hold position if tolerance is violated even during non-active goal * rename abort Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>
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…oal (ros-controls#368) * hold position if tolerance is violated even during non-active goal * rename abort Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>
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This PR handles tolerance-checking logic for when non-active goals are running. This is specifically relevant if a trajectory is published to the joint_trajectory topic (instead of using the action server) as they are considered to be non-active goals.