Publish correct joint velocities in r6bot example 7

[ecmjohnson]

Resolves #427 by copying joint velocities into the trajectory point's velocity field. This makes no functional difference for the r6bot controller when both position and velocity are provided as shown by @christophfroehlich here.

Tested by echoing the /r6bot_controller/joint_trajectory topic. Prior to the change, both velocities and positions were always the same:

...
- positions:
  - 0.2526216532445078
  - -0.21062744421529653
  - -0.3485843399000512
  - -0.13795689568475478
  - -1.2928197138013211e-16
  - 0.25262165324450775
  velocities:
  - 0.2526216532445078
  - -0.21062744421529653
  - -0.3485843399000512
  - -0.13795689568475478
  - -1.2928197138013211e-16
  - 0.25262165324450775
  accelerations: []
  effort: []
  time_from_start:
    sec: 1
    nanosec: 924242424
...

After the change, the velocities and positions differ:

...
- positions:
  - 0.2526216532445078
  - -0.21062744421529653
  - -0.3485843399000512
  - -0.13795689568475478
  - -1.2928197138013211e-16
  - 0.25262165324450775
  velocities:
  - 0.37845782334674916
  - 0.47486669652093844
  - 0.719777222778079
  - 0.24491052625714027
  - -8.847089727481716e-17
  - 0.37845782334674904
  accelerations: []
  effort: []
  time_from_start:
    sec: 1
    nanosec: 924242424
...

No difference in the example is observed.

[saikishor]

@ecmjohnson The changes explain themself, however, out of curiosity, did you get this message when the robot is moving? or when it is steady?. I'm asking because the velocities are non-zero

[ecmjohnson]

@ecmjohnson The changes explain themself, however, out of curiosity, did you get this message when the robot is moving? or when it is steady?. I'm asking because the velocities are non-zero

@saikishor These are the commanded velocities published in the trajectory_msgs::msg::JointTrajectory message by the send_trajectory node. I think they should be non-zero even if they will be overwritten by the positions

[saikishor]

@ecmjohnson I'm just asking if the copy of message you have in the description after the fix is during the execution of the trajectory or not?. Because of course it doesn't make sense that your initial or final state of the trajectory is with non-zero velocities.

If this is the case, the resulting velocities could be due to the planner we are using.

Thank you

[ecmjohnson]

@saikishor Sorry, I must be misunderstanding something. The send_trajectory publishes a trajectory_msgs::msg::JointTrajectory which will be executed by the controller, so I guess in this case the message would be sent prior to execution of the trajectory.

The single point I included from the trajectory may be confusing. I included a single point (the last from before ros2 topic echo truncated) just to show that the velocities field is no longer identical to the positions field. The full message published by the send_trajectory node after these changes has neither 0 velocities at either start or end point, and also exceeds the double total_time = 3.0;:

Full joint trajectory message after change

``` $ ros2 topic echo -f /r6bot_controller/joint_trajectory header: stamp: sec: 1705349536 nanosec: 403289528 frame_id: '' joint_names: - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 - joint_6 points: - positions: - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 velocities: - -0.5779205116573051 - -0.13651205700757027 - -0.24068439681030246 - -0.10417233980273238 - -2.0729945537922845e-16 - -0.5779205116573052 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 0 - positions: - -0.008756371388747047 - -0.002068364500114701 - -0.003646733285004583 - -0.0015783687848898846 - -3.140900839079219e-18 - -0.008756371388747049 velocities: - -0.5786060750227738 - -0.14181432942611855 - -0.24974339464197653 - -0.10792906521585799 - -1.5265566588595902e-16 - -0.5786060750227738 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 15151515 - positions: - -0.01752313010121332 - -0.004217066461116498 - -0.007430724112913319 - -0.003213657651796824 - -5.453865473714962e-18 - -0.01752313010121332 velocities: - -0.5788735153239294 - -0.14700285450052902 - -0.25856793368355546 - -0.11156507918302619 - 1.3444106938820255e-16 - -0.5788735153239289 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 30303030 - positions: - -0.026293940939454676 - -0.006444382438397241 - -0.011348420077815675 - -0.004904037639418433 - -3.416879573893711e-18 - -0.02629394093945467 velocities: - -0.5787209240181059 - -0.1520879186208527 - -0.2671755897281214 - -0.11508767110726872 - -4.336808689942018e-18 - -0.5787209240181062 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 45454545 - positions: - -0.035062439788213856 - -0.008748744841743494 - -0.015396535073696302 - -0.006647790231952808 - -3.48258879646859e-18 - -0.035062439788213856 velocities: - -0.5781466800537529 - -0.1570798593985302 - -0.2755839830585882 - -0.11850412366005758 - 1.48318857196017e-16 - -0.5781466800537525 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 60606060 - positions: - -0.04382223797084647 - -0.011128742711418194 - -0.019572049968523395 - -0.008443307257105195 - -1.2353333844077267e-18 - -0.04382223797084647 velocities: - -0.5771494532023118 - -0.16198900354046156 - -0.2838106549157336 - -0.1218216513752714 - 5.811323644522304e-17 - -0.5771494532023118 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 75757575 - positions: - -0.052566926655729984 - -0.01358312155294034 - -0.02387221140664057 - -0.010289089853700216 - -3.5482980190434736e-19 - -0.052566926655729984 velocities: - -0.5757282052427922 - -0.166825605404837 - -0.2918729464127455 - -0.12504734100790862 - -3.0444397003392965e-16 - -0.5757282052427919 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 90909090 - positions: - -0.06129008128062077 - -0.016110782240892414 - -0.02829452877653065 - -0.012183746535638225 - -4.967617226660858e-18 - -0.06129008128062077 velocities: - -0.5738821889790144 - -0.17159978648676444 - -0.2997878803925027 - -0.128188093905738 - 1.708702623837155e-16 - -0.5738821889790144 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 106060606 - positions: - -0.06998526596212098 - -0.018710779005843392 - -0.032836769388538266 - -0.014125990382694862 - -2.378673857210623e-18 - -0.06998526596212098 velocities: - -0.5716109450893019 - -0.17632147607146545 - -0.30757204669699034 - -0.1312505706255249 - 2.940356291780688e-16 - -0.5716109450893019 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 121212121 - positions: - -0.07864603785741343 - -0.021382316522077716 - -0.03749695191425024 - -0.016114635392172512 - 2.0764114333661775e-18 - -0.07864603785741343 velocities: - -0.5689142968284204 - -0.18100035328195907 - -0.3152414912916016 - -0.13424113800964252 - 1.5872719805187785e-16 - -0.5689142968284205 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 136363636 - positions: - -0.08726595144572283 - -0.024124746117258913 - -0.04227333814594117 - -0.018148592028682246 - 4.481368979606751e-18 - -0.08726595144572284 velocities: - -0.5657923426217594 - -0.1856457907365931 - -0.32281160966050604 - -0.137165818923913 - 2.654126918244515e-16 - -0.5657923426217596 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 151515151 - positions: - -0.09583856269756767 - -0.026937561128419416 - -0.04716442314079732 - -0.020226862012377896 - 8.50277340118935e-18 - -0.09583856269756769 velocities: - -0.5622454466117446 - -0.19026680001949434 - -0.33029704486272626 - -0.14003024484323184 - 7.025630077706069e-17 - -0.5622454466117439 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 166666666 - positions: - -0.10435743310077593 - -0.02982039143174509 - -0.0521689238205356 - -0.0223485323887905 - 9.56726280690239e-18 - -0.10435743310077593 velocities: - -0.5582742272361371 - -0.19487197915384757 - -0.33771159061178446 - -0.14283961145793672 - 1.1796119636642288e-16 - -0.5582742272361373 accelerations: [] effort: [] time_from_start: sec: 0 nanosec: 181818181 - positions: - -0.11281613351344467 - -0.032772997176500354 - -0.05728576610253233 - -0.024512768926031967 - 1.13545536609391e-17 - -0.11281613351344467 velocities: - 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[saikishor]

@ecmjohnson thanks for the information. Fine then the issue is coming from the solver itself. Let's wait for @christophfroehlich to review and then we can merge it

[christophfroehlich]

I had a quick look. The IK solver is called with a twist in tool frame and generates a velocity vector in joint space, which is then integrated to positions. That's why the velocity is not zero in the end: one should probably add another field to the message with the last position (is discarded now) and zero velocity. Maybe the hardware plugin should be improved in a future PR using both position+velocity fields.

[saikishor]

Thank you @christophfroehlich