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Allow nonzero velocity at trajectory end for ros2_controllers #198

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merged 1 commit into from
Mar 11, 2024

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sea-bass
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@sea-bass sea-bass commented Mar 10, 2024

While fixing moveit/moveit2#2733, I noticed that this was now needed for our servo configs if we are using the acceleration limited plugin.

This has been needed since November 2023 for this use case: ros-controls/ros2_controllers#834, noting the parameter only exists on Rolling, and not on Humble.

cc @ibrahiminfinite

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rolling is broken now likely because of the upcoming 24.04 sync, but I think we can go ahead here

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