[moveit] Add config for trajectory execution and disable execution mo… #1132
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…nitoring by default With the scaled JTC execution time monitoring doesn't make much sense as long as MoveIt is not aware of the trajectory scaling.
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I would strongly recommend to document the change in this PR, perhaps by adding a warning in a (very) visible place. It deviates from the default MoveIt behaviour (ie: monitoring trajectory execution) -- and I understand why -- but it will also mean any mistakes or other causes for trajectory execution running 'over time' will not be handled by MoveIt's TEM anymore. This now delegates responsibility for keeping track of trajectory execution to essentially action clients, which could result in unsuspecting clients running into 'hangups' of MoveIt (as it can't abort goals automatically anymore). |
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…nitoring by default
With the scaled JTC execution time monitoring doesn't make much sense as long as MoveIt is not aware of the trajectory scaling.