MotoROS2 currently exposes a FollowJointTrajectory action interface on the follow_joint_trajectory ns (docs).
It would perhaps be nice(r) to instead configure the action server to use the joint_trajectory_controller/follow_joint_trajectory namespace.
Even though MotoROS2 does not support ros2_control (faq), changing our FollowJointTrajectory action server to use that namespace would more closely follow the standard namespacing of the ros(2)_control controller of the same name (ie: JointTrajectoryController). This in turn would make it more recognisable for users, and additionally make it easier to configure applications/frameworks like MoveIt, as they tend to (implicitly) assume/expect certain setups and might provide users with templates.
MotoROS2 currently exposes a
FollowJointTrajectory
action interface on thefollow_joint_trajectory
ns (docs).It would perhaps be nice(r) to instead configure the action server to use the
joint_trajectory_controller/follow_joint_trajectory
namespace.Even though MotoROS2 does not support
ros2_control
(faq), changing ourFollowJointTrajectory
action server to use that namespace would more closely follow the standard namespacing of theros(2)_control
controller of the same name (ie:JointTrajectoryController
). This in turn would make it more recognisable for users, and additionally make it easier to configure applications/frameworks like MoveIt, as they tend to (implicitly) assume/expect certain setups and might provide users with templates.