Reduce jerk at startup #631
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jaagut
reviewed
Dec 12, 2024
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I am not so sure about the current wait implementation.
If for some reason the hcm is running long before ros_control (longer than motor_start_delay), we could already try to move while ros_control is still not ready.
- We could wait for a bit longer than ros_control
- We could ask ros_control via a service if it's wait time has passed and its ready. Only then proceed
jaagut
approved these changes
Dec 12, 2024
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Summary
Wait with the start animation until we can write motor goals