Release/Flexiv ROS 2 Jazzy 2.1#111
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(cherry picked from commit 9f19db0)
…typesupport (cherry picked from commit f42eb75)
… position streaming (cherry picked from commit 2113361)
… with C++20 (cherry picked from commit 8e5859d)
…per support (cherry picked from commit 39930a7)
…r configs (cherry picked from commit cd0a096)
…ers and collision rules (cherry picked from commit 0125503)
…oup states API (cherry picked from commit e735eaa)
(cherry picked from commit 27bc5a0)
… robots (cherry picked from commit 3e68b61)
(cherry picked from commit e0ed0fc)
… as unsupported (cherry picked from commit 3d82743)
…nected robot (cherry picked from commit fd26cd2)
… for dual-arm grippers (cherry picked from commit cc7a770)
MoveIt's AddTimeOptimalParameterization response adapter aborts planning for the MICO-Plus/MICO-Ultra torso group with 'No acceleration limit was defined for joint <sn>_torso_joint1' because the torso joints were missing from joint_limits.yaml. Add velocity/acceleration limits for both torso joints so time-optimal trajectory generation succeeds.
munseng-flexiv
requested review from
bsoe-flexiv,
pzhu-flexiv,
xyyeh-flexiv and
zfquek-flexiv
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TODO:
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zfquek-flexiv
approved these changes
Jun 29, 2026
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This PR forward-ports #110 to the
jazzybranch.