add a new joint trajectory controller interface about start time

[jacknlliu]

Is it possible to add a new joint trajectory controller interface about start time which allows the trajectory starting time to be not absolute?

We can set the start time as before some time, but not the absolute time. We hope the trajectory is executed immediately when the trajectory was received by joint trajectory controller.

We know that specifying a start time and avoiding the controller abandon it(including system time delay and application priority) are very difficult. But the time in which the controller received the trajectory and the latest time which we hope trajectory started already are easy to specify.

[jacknlliu]

nonrt-joint-trajectory-controller for using ROS controller from a non-real-time situation. Like general industrial robot API for upper machine communication.

This nonrt-joint-trajectory-controller should be compatible with the origin joint-trajectory-controller. We should only append a few parameters for the new controller.

Reference

• protective stop with ros_control #2
• ur_modern_driver low bandwith trajectory follower