Scaled jtc additions #17
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This adds a scaling factor between 0 and 1 to the JTC so that the trajectory time inside the controller is extended respectively. A value of 0.5 means that trajectory execution will take twice as long as the trajectory states. The scaling factor itself is read from the hardware for now.
Co-authored-by: Christoph Fröhlich <[email protected]>
…etting of scaling factor
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This pull request is in conflict. Could you fix it @mamueluth? |
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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This pull request is in conflict. Could you fix it @mamueluth? |
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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Service used for setting the scaling factor: b-robotized-forks/control_msgs#3
Make exchange of scaling factor with hardware optional.
Make possible to set scaling factor via service call