Currently referencing joints, as required for robots such as the robolink DP5, has some issues:
The order of referencing joints is ignored
Referencing happens in the write loop instead of the on_activate function
Maybe an override launch parameter could help avoid unintended movement on startup
The first one is the most urgent part of the issue, as it prevents the robolink from being safely started.
A previous attempt to fix the issues it failed, as the read and write functionality of the loop function is required for a successful referencing command. As such it happens in each modules write_can() method at the moment, without heeding to the order set by the .ros2_control.urdfs reference priority parameters.
Currently referencing joints, as required for robots such as the robolink DP5, has some issues:
The first one is the most urgent part of the issue, as it prevents the robolink from being safely started. A previous attempt to fix the issues it failed, as the read and write functionality of the loop function is required for a successful referencing command. As such it happens in each modules write_can() method at the moment, without heeding to the order set by the .ros2_control.urdfs reference priority parameters.