Specify controller name in MGI execution #2257
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #2257 +/- ##
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- Coverage 50.51% 50.50% -0.01%
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Files 386 386
Lines 31732 31732
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- Hits 16026 16022 -4
- Misses 15706 15710 +4 ☔ View full report in Codecov by Sentry. |
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...ng_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
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Resolve #1632
This PR adds the ability to execute via MGI while specifying a controller name. This can be useful for more fine control over controller-switching applications for which multiple controllers apply, and it is undesirable to let TrajectoryExecutionManager selet the controller for you.
Related and required change in moveit_msgs: moveit/moveit_msgs#160