First point in ABB trajectory takes a long time to execute

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The ABB server side(rapid) driver(abb_common) sometimes takes a long time to 
execute the first trajectory point.  This occurs because the joint trajectory 
action node (industrial_robot_client) tolerance for a finished motion is 0.01 
radians.  When the joint trajectory action node reports the motion as finished, 
the last reported joint position is taken as the beginning of the next motion.  
On subsequent motions, the initial point differs from the true end of the last 
motion by more than 0.002 radians (or 0.1 degrees) as hard coded in the ABB 
server.  Because the move duration is set to zero for the first point, the 
robot interprets the first motion as a really slow move (there's probably more 
explanation but I don't know what it is).

A workaround to this is to override the joint trajectory action in the launch 
file as follows:

<node pkg="industrial_robot_client" type="joint_trajectory_action" 
name="joint_trajectory_action_server" output="screen">
        <param name="constraints/goal_threshold" value="0.001"/>
</node>

Original issue reported on code.google.com by [email protected] on 23 Feb 2013 at 1:41