Base movement fix with trajectory commands

squirrel-project / squirrel_driver

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Base movement fix with trajectory commands #168

Closed tpatten closed 6 years ago

tpatten commented 6 years ago

Robot resets the joint trajectory controller (thus clears buffer in ros control) when not receiving trajectory commands. This prevents unwanted base movements when transitioning between controller, navigation and joystick. Essentially this is a hack to get around the problems with ros control. @lokalmatador @smhaller please check on Innsbruck robot.

ipa-nhg commented 6 years ago

@tpatten please solve the merge confict

ipa-nhg commented 6 years ago

LGTM