During the ROS-I training, some observations were made in regards to the interface. These are as follows:
The use of the Nominal word on some of the method in the trajectory points was described as misleading. The explanation provided was that Nominal in descartes is indicative of an original value (whether cartesian or joint pose) that gave rise to a range of values whenever non-zero tolerances were applied to it.
The method getNominalJointPose(robot_model, seed, joint_pose) for retrieving the joint pose from a joint trajectory point in a planned path was confusing to many because its signature suggested that the pose was being computed even though a valid robot path had already been produced.
During the ROS-I training, some observations were made in regards to the interface. These are as follows: