Expected Changes in the Near Future

[herreraverajosem]

Hello,

Regarding to: "Trajectory control currently only supports position commands. In the future, velocity control will be added."

When is it expected to be ready?

[urfeex]

It is kind of available. You can configure a velocity-based JTC. However, you'll either have to use it in open-loop-control or find a set of suitable PID parameters for closed-loop control.

Also see #905

If you would like to contribute a set of parameters working for a specific model, that would be appreciated.