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UniversalRobots / Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series
BSD 3-Clause "New" or "Revised" License
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[moveit] Add config for trajectory execution and disable execution mo… #1132

Closed fmauch closed 1 month ago

fmauch commented 1 month ago

…nitoring by default

With the scaled JTC execution time monitoring doesn't make much sense as long as MoveIt is not aware of the trajectory scaling.

gavanderhoorn commented 1 month ago

I would strongly recommend to document the change in this PR, perhaps by adding a warning in a (very) visible place.

It deviates from the default MoveIt behaviour (ie: monitoring trajectory execution) -- and I understand why -- but it will also mean any mistakes or other causes for trajectory execution running 'over time' will not be handled by MoveIt's TEM anymore.

This now delegates responsibility for keeping track of trajectory execution to essentially action clients, which could result in unsuspecting clients running into 'hangups' of MoveIt (as it can't abort goals automatically anymore).

fmauch commented 1 month ago

I would strongly recommend to document the change in this PR, perhaps by adding a warning in a (very) visible place.

That's a valid comment, thank you!