When converting tesseract trajectories to ROS trajectories, we automatically fill in velocities, accelerations, and efforts with default values (0), even if the tesseract trajectory doesn't have values for those quantities.
This causes problems with the latest version of ros2_control which expects only the quantities that are used to control the trajectory to be in the trajectory. For example, the joint_trajectory_controller will reject a trajectory where an all-zero vector of efforts is specified and the joint does not have an effort control interface. If we are not calculating velocity, acceleration, and/or effort, we shouldn't populate default values into the trajectory
When converting
tesseracttrajectories to ROS trajectories, we automatically fill in velocities, accelerations, and efforts with default values (0), even if thetesseracttrajectory doesn't have values for those quantities.https://github.com/tesseract-robotics/tesseract_ros2/blob/bf7677fb2bbf5c59be3891bf66627d8c7417b89c/tesseract_rosutils/src/utils.cpp#L2312-L2314
This causes problems with the latest version of
ros2_controlwhich expects only the quantities that are used to control the trajectory to be in the trajectory. For example, thejoint_trajectory_controllerwill reject a trajectory where an all-zero vector of efforts is specified and the joint does not have an effort control interface. If we are not calculating velocity, acceleration, and/or effort, we shouldn't populate default values into the trajectory