[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.
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