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add test case that fails without e53b364
See pull request for fix/jerk_on_stop for detailed description. This commit adds a delay subscriber to rrbot to emulate a hardware controller with dead time. The jump backwards in the actual position is observed in joint_trajectory_controller_test by extending the stateCB. The new testCase fails, if the velocity of the actual position is negative although motion should only be forwards.
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Original file line number | Diff line number | Diff line change |
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@@ -12,3 +12,5 @@ rrbot_controller: | |
joint2: | ||
goal: 0.01 | ||
trajectory: 0.05 | ||
stop_trajectory_duration: 0.1 | ||
state_publish_rate: 100 |