Swiz/mtc merged fixes #2
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The twist motion performs an angular rotation about the given axis _and_ the origin of ik_frame as well as a linear translation. Both transforms are expressed w.r.t. the model frame and thus require left-multiplication to ik_frame's current pose.
The ik_frame should move in a straight-line Cartesian path. However, so far the link frame was following a Cartesian path.
When passing the root frame, getRigidlyConnectedParentLinkModel() returns a nullptr for robot_link, causing a segfault. Actually, we don't need to use that method at all. We just need to find the robot_link of an associated body.
- link_pose -> start_pose - pos_link -> pos_start
…ting the goal so it does not block the server from accepting a cancel request. While client is waiting for the result future, repeatedly check if preempting was requested and send a cancel request if it was
This reverts commit dfb5769.
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