Use services to set position, or speed and position instead of topics#65
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bajo wants to merge 4 commits intoarebgun:masterfrom
Open
Use services to set position, or speed and position instead of topics#65bajo wants to merge 4 commits intoarebgun:masterfrom
bajo wants to merge 4 commits intoarebgun:masterfrom
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As we do not stop the motor even if timeout is reached it does not provide any benefit.
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The advantage of services over topic communication is that we immediately get a response from the service. Thus giving the behavior coordination system on a robot the chance to base a decision on the response. For this I added bool values goal_reached and min_max_limit_reached to the service definitions and implemented he handling within joint_position_controller.py and joint_controller.py
Feedback welcome.