[quote="gavanderhoorn, post:3, topic:7803"] 1. maintain deterministic execution in everything (ie: hard real-time capability, not as a requirement (so keep components capable of running in deterministic environments, but dont require it: see executors below)) [/quote] +1 [quote="gavanderhoorn, post:3, topic:7803"] 4. support industry-standard trajectory generators (almost off-topic, but you asked about `joint_trajectory_controller` , so: trapezoidal / s-curve profiles / higher-order interpolation / jerk-limited, etc) [/quote] +1 [quote="gavanderhoorn, post:3, topic:7803"] 6. fully support managed nodes [/quote] +1 It would be also nice to have more support for distributed motion control. Some features that would be interesting to have: * Remote life-cycle controller management. * Multicast trajectory_msgs to remote JointTrajectory controllers. Each controller would execute its corresponding trajectory. * Use a common E-stop topic to stop all the controllers at once. * Master-slave mirroring controllers. * Make use of DDS QoS policies (for example deadline) to implement a safe jog control. --- [Visit Topic](https://discourse.ros.org/t/ros-control-in-ros2-wishlist/7803/9) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: