Initialize MotionData using provided initial values #9
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Signed-off-by: Yadunund <[email protected]>
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@gavanderhoorn could you provide some feedback on this PR? |
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@gavanderhoorn friendly ping. |
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@gavanderhoorn another ping. |
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A friendly ping also from me - is there anything that can still be done on this PR before it can be merged? |
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This PR updates updates the implementation of
abb::robot::initializeMotionData()to accept initial state and command values for position, velocity and effort for each joint. The changes here do not break API and should not affect any existing downstream users.This PR would allow downstream implementations of hardware interfaces/ROS drivers to properly initialize EGM such that the robot remains at a desired initial state on startup.
It is essential to fix PickNikRobotics/abb_ros2#44