Support for motion primitives from trajectory controller controller. #1496
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…overflow error when launching
…calls (and moved some more code to the helper header)
…tware_version_major_>= 5) in transform_force_torque() since ur_driver_ is not available in the ur_state_helper.hpp
… case to fit the rest of the repo
…31415/ros2_motion_primitives_ur_driver_pkg to the Universal_Robots_ROS2_Driver
… the hardware interface can receive a new motion primitive — replaces the previous, more complex handling via execution_status
…unch.py and added if else for driver_type to load the right ros2_control.xacro file in ur.urdf.xacro
…d to revert the change after the PRs are merged.
… multiple callbacks.
…oupdate Auto-update pre-commit hooks
…motion_primitive/q1)
…truction_executor_ execution is done
…::array<double, 25>, 1> → therefore changed command and state interfaces from std::vector<double> to std::array<double, 25>.
Co-authored-by: Felix Exner <[email protected]>
…refix is passed as param to moprim forward controller
mathias31415
changed the title
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Support for motion primitives from trajectory controller controller (ros-controls/ros2_controllers#1858)