This makes the demo that @AdamPettinger has started succeed and execute the motion. I used a rebased version of the hybrid planning feature branch locally, I still need to check if the upstream branch actually works right now or if we just want to rebase it as well. Currently, the demo runs a very simple MTC motion plan to a reachable target state (joint state constraints defined in the test node) and uses the local solver to execute the motion.
This makes the demo that @AdamPettinger has started succeed and execute the motion. I used a rebased version of the hybrid planning feature branch locally, I still need to check if the upstream branch actually works right now or if we just want to rebase it as well. Currently, the demo runs a very simple MTC motion plan to a reachable target state (joint state constraints defined in the test node) and uses the local solver to execute the motion.