[uibk] if switch mode command is send after ptp command the robot/arm should not move about squirrel_driver

[shangl]

joint_control/ptp (causing this problem) is not supported and only available for debugging purposes. it was disabled twice by uibk. @ipa-nhg can you please close this request?

[ipa-nhg]

Are you sure? could you (or @bajo or @edith-langer) please check if this problem could also happen with move command? Just send some commands to /real/robotino/joint_control/move (it should not move) and after that switch the mode, is it the robot now moving because of the old move commands?

[shangl]

@ipa-nhg : yes. the ptp is not taking care whether or not the mode is appropriate or not (one of the many bad things about it) and it will just use the move command until it thinks it is there - this function is dangerous. for the move this is not the case as it will consider a packet only until the next clock cycle is done (so there is no history in there)

[mzillich]

ok, so we should test with the /real/robotino/joint_control/move?

[shangl]

yes. for testing of the low level controller you can also use the joint ptp action server (squirrel_ptp_server) as soon as it works again. it uses all the low level functionality