Currently the MotorCommandSet service immediately returns instead of blocking for command to be completed. This is problematic because for setting position it will take an unknown amount of time to complete. So by correctly returning a future and calls to spin_until_future_complete would solve this issues. The current work around is a seperate watchdog topic which is a bit overcomplicated.
Currently the MotorCommandSet service immediately returns instead of blocking for command to be completed. This is problematic because for setting position it will take an unknown amount of time to complete. So by correctly returning a future and calls to spin_until_future_complete would solve this issues. The current work around is a seperate watchdog topic which is a bit overcomplicated.