How to handle interpolation with ros2_control

[AndyZe]

ros2_control adds linear/cubic/quintic spline fitting to incoming trajectories. The splines can cause overshoot or collisions, and ros2_control does not check for collisions after applying the spline fitting. How can we fix this?

• for normal trajectories
  • Use linear interpolation to prevent overshoot
  • Increase the density of waypoints from MoveIt so the interpolation is minimal
• for admittance
  • Same thing (linear interpolation & increased waypoint density from MoveIt)
• for trajectory replacement
  • This is an open question. Linear interpolation would probably be too jerky