Industrial Robot Client - time/duration handling incorrect
GoogleCodeExporter opened this issue · comments
Current handling of trajectory velocities and time_from_start is incorrect:
1) simple_message protocol does not pass time_from_start to robot, so trajecories can't be delayed or spliced appropriately on the robot controller
2) joint_trajectory_streamer should respect time_from_start when streaming points to robots
3) duration is calculated using time_from_start, but should really be based on delta-position and trajectory velocities.
Original issue reported on code.google.com by jz...@swri.org on 14 Feb 2013 at 5:45