jtc: Enable sending trajectories with a partial set of joints

[beatrizleon]

Fixes #182.

This is the same pr as #185 but we rebased it to Kinetic. I have tested it on a docker image and all test are passing. Also commits are compresed just to one.

@bmagyar let us know if this is ok

[bmagyar]

Hi, thanks for rebasing! Since this is quite a major addition I'd prefer to see Travis being all green about it.

As far as I understood @efernandez should have the Travis builds fixed very soon.

[efernandez]

@bmagyar which tests are failing? My connection is a little slow ATM.

If it's the jerk test on the diff drive controller, I recommend kicking the test job again or just merge. I'm going to create a PR to disable them for now.

[efernandez]

Finally could see the job output. It seems that something does NOT compile:

/home/travis/ros/ws_ros_controls/src/ros_controllers/velocity_controllers/src/joint_position_controller.cpp:241:41: error: ‘struct control_msgs::JointControllerState_<std::allocator<void> >’ has no member named ‘antiwindup’

Maybe this needs to be rebased on top of kinetic-devel?
I have to confirm the test job is actually running against kinetic, since we had some issues related with that, but I think they got solved with the Travis support that finally got merged.

[beatrizleon]

I have merged the latest changes on kinetic-devel but travis is still failing. As far as I can tell is a test failure in diff_drive_controller.

[bmagyar]

Hi @beatrizleon,
Sorry for the long delay. I'd be up for merging if you could rebase the PR again.
(Something like git pull --rebase upstream should do the trick, please try to avoid merging back onto it).

[beatrizleon]

@bmagyar I did the rebase but test is still failing diff_drive_controller/test_results/diff_drive_controller/rosunit-diff_drive_limits_test.xml: 6 tests, 0 errors, 1 failures

[bmagyar]

Don't worry about that @beatrizleon , that test has been haunting us for a while now...we cannot get it to run properly on travis, everywhere else it runs fine.

Upon quadruple-checking the code, I've spotted that the new test file joint_trajectory_controller/test/joint_partial_trajectory_controller_test.cpp has Adolfo as author and a PAL license. You may want to change that to yourself and naming Shadow Robot in the text.

Other than that if you are ok I could merge

👍

[beatrizleon]

@bmagyar thanks for spotting that! I updated the copyright info. Let me know if it is ok. I am looking forward to the merge :)

[bmagyar]

This took quite a while. Thank you for sticking around and making sure it makes it to the merge!

[beatrizleon]

Thank you!