[JTC] Hold position if tolerance is violated even during non-active goal #368
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Thanks for the contribution! This looks like a simple solution to this. Would it be possible to write a small test for this behavior? We would then feel better in the future to know that behavior is not broken (again).
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…oal (ros-controls#368) * hold position if tolerance is violated even during non-active goal * rename abort Co-authored-by: Michael Wiznitzer <[email protected]>
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…oal (ros-controls#368) * hold position if tolerance is violated even during non-active goal * rename abort Co-authored-by: Michael Wiznitzer <[email protected]>
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This PR handles tolerance-checking logic for when non-active goals are running. This is specifically relevant if a trajectory is published to the joint_trajectory topic (instead of using the action server) as they are considered to be non-active goals.