The OCL motion_control/CartesianVelocityController component appears to mix up calculation of cartesian pose via forward kinematics, with the transformation of cartesian-space velocities to joint-space velocities. Because the second part of this component should only be running when you are in a cartesian-space motion, the FK results are not always available.

I'm wondering what people think of splitting this into two components?

1. CartesianRobot that can be always calculating CartesianSensorPosition
2. CartesianVelocityController, which has the same functionality as now except for the FK calculation.

This would allow you to have a CartesianRobot that is always producing the measured cartesian pose, while you could turn the other component off and on as necessary.

We'd certainly be happy to do this (in reality, we'll be doing it either way as we need this separation, but hope that the work would be useful to others?).
S