gavanderhoorn / motoros2_fjt_pt_queue_proxy

Drip-feeds FJT goals to MotoROS2 one trajectory point at a time

motoros2_fjt_pt_queue_proxy

Drip-feed FollowJointTrajectory goals to MotoROS2 one JointTrajectoryPoint at a time.

This is essentially a Python implementation of the FollowJointTrajectory action server in industrial_robot_client / motoman_driver.

Status

WIP.

The node currently suffers a cpu leak, in the sense that consecutive goals cause the node to consume increasingly large amounts of CPU time, until a full core is consumed.