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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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Improve FJT goal validation (include `JointTolerance` checks fi) #250

Open gavanderhoorn opened 2 months ago

gavanderhoorn commented 2 months ago

As discussed in https://github.com/Yaskawa-Global/motoros2/pull/241#issuecomment-2079263653, it would be good to add more extensive FollowJointTrajectoryAction goal validation to the FJT action server.

The current implementation is too trustworthy and should be changed into a more defensive version.