RethinkRobotics/baxter_interface — pull request #50 by rethink-imcmahon (2014-12-11 01:36:27+00:00)
Title: Added separate cfg for Feed Forward

This change intends to break out the Feed Forward Position configuration from the Regular Position configuration. That way the parameters can evolve separately when necessary.

- Added the Feed Forward Config for JTAS
- Allow for initial velocities / accels that are non-zero in JTAS

I've tested this on the Indigo Baxter, and it works fine in both Regular Position and Feed Forward Position modes.