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I could not get the servo node running correctly, which is why I would suggest taking fixing this out of this PR. Maybe we don't even put 7619306 in here? |
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I think we should rewrite the whole |
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Also I tested servo on both URSim and a real UR5, with same changes in 7619306. It worked well! |
This is a basic test that verifies that all Nodes come up correctly without crashing.
This makes it start but I couldn't get the robot moving.
The servo_node currently doesn't startup correctly until a plan is executed.
Also enabled CCache, since building MoveIt takes a very long time otherwise.
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This should help us finding Moveit related errors like the one fixed in #906 earlier.
ToDo:
[ ] Fix servo_node startup (the test should fail for now, since that is actually broken)