[melodic] fix fjt emulation

4am-robotics / cob_control

The cob_control stack includes packages that are used to do low level control tasks with Care-O-bot hardware over ROS.

www.care-o-bot.org

Apache License 2.0

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[melodic] fix fjt emulation #249

Closed fmessmer closed 3 years ago

fmessmer commented 3 years ago

same as #248

fjt emulator failed to successfully execute trajectories from moveit because the trajectory points had time deltas smaller than the fjt emulator update rate

this pr provides two fixes:

allow update rate to be increased via parameter
skip trajectory points being too close