Sending trajectories from JTC to hardware directly

[bmagyar]

Is your feature request related to a problem? Please describe.
In certain cases one may want to rely on the controller board that came with their hardware that supports a trajectory interface and may want to "forward" the "entire" trajectory to their arm controller box from the JTC.

Describe the solution you'd like
We'd likely need to use 3-4 arrays of doubles of fixed length and create a variant of the JTC that creates the appropriate length segments for the hardware controller.

Describe alternatives you've considered
A clear and concise description of any alternative solutions or features you've considered.

Additional context
Add any other context or screenshots about the feature request here.

[fmauch]

That sounds exactly like the kind of thing we did in https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_robot_driver/ur_controllers/doc/index.html#ur-controllers-passthroughtrajectorycontroller

I'm not saying that this issue is already resolved by that, but it would be very nice to have a chat on this. We are currently doing a lot of magic inside the hardware interface to make that work. For instance, we transfer the setpoints one by one, kind of using the network socket as a buffer.

Are you planning to send the complete trajectory in one write operation? One relevant question is how much data the communication interface to the robot can handle at once.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.