This is necessary because the motors need some time for their startup. When ROM/RAM values are written directly after startup, they don't take effect. The start_delay parameter is added to set this delay. From testing, a value of 10ms would be sufficient but I chose a higher value to be on the safe side and because this is only rarely executed.
Related issues
This was a problem before because custom PID values were not set after the motor power was turned off, leading to worse performance of the walking and standup.
Summary
This is necessary because the motors need some time for their startup. When ROM/RAM values are written directly after startup, they don't take effect. The start_delay parameter is added to set this delay. From testing, a value of 10ms would be sufficient but I chose a higher value to be on the safe side and because this is only rarely executed.
Related issues
This was a problem before because custom PID values were not set after the motor power was turned off, leading to worse performance of the walking and standup.
Checklist
colcon build