Add doc page about joint kinematics (backport #1497) #1560
Merged
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I summarized some results of discussions about mimic joints and how I understand that.
Note, this is different than implemented currently with
ros2_control/hardware_interface/src/mock_components/generic_system.cpp
Lines 568 to 576 in 16fbde3
This came from the time where we defined the mimic joints in the ros2_control tag. IMHO, it does not make sense now using the URDF-specification, where the behavior of the mimic joint changes by switching the command interface from position to velocity, because we use the offset and calculate
velocity = multiplier * other_joint_velocity + offset
Also related to ros-controls/gazebo_ros2_control#297 and ros-controls/gz_ros2_control#276
I also included transmission interfaces, to give an overview what they are and what they aren't (they were not mentioned once in the docs).
This is an automatic backport of pull request #1497 done by [Mergify](https://mergify.com).