The validator does not allow acceleration-only command interfaces:
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// Check if command interfaces combination is valid. Valid combinations are: |
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// 1. effort |
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// 2. velocity |
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// 2. position [velocity, [acceleration]] |
I'm not sure if this would make sense, i.e., if there is any robot type with acceleration-only interface, but I think JTC could work with it.
- Should we allow it?
- If not -> I'll clarify that in the docs, because this is not clearly described there.
The validator does not allow acceleration-only command interfaces:
ros2_controllers/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
Lines 33 to 36 in 6851df1
I'm not sure if this would make sense, i.e., if there is any robot type with acceleration-only interface, but I think JTC could work with it.