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This will result in a initial abrupt motion for models in wich the initial configuration is not the zero position (for example iCub arms). \r\n\r\n\r\nThere is any reason for this change? @barbalberto ","created_at":"2015-11-17T09:49:35Z","updated_at":"2015-11-17T09:49:35Z","html_url":"https://github.com/robotology/gazebo-yarp-plugins/pull/217#discussion_r45039510","pull_request_url":"https://api.github.com/repos/robotology/gazebo-yarp-plugins/pulls/217","_links":{"self":{"href":"https://api.github.com/repos/robotology/gazebo-yarp-plugins/pulls/comments/45039510"},"html":{"href":"https://github.com/robotology/gazebo-yarp-plugins/pull/217#discussion_r45039510"},"pull_request":{"href":"https://api.github.com/repos/robotology/gazebo-yarp-plugins/pulls/217"}}},"pull_request":{"url":"https://api.github.com/repos/robotology/gazebo-yarp-plugins/pulls/217","id":50794454,"html_url":"https://github.com/robotology/gazebo-yarp-plugins/pull/217","diff_url":"https://github.com/robotology/gazebo-yarp-plugins/pull/217.diff","patch_url":"https://github.com/robotology/gazebo-yarp-plugins/pull/217.patch","issue_url":"https://api.github.com/repos/robotology/gazebo-yarp-plugins/issues/217","number":217,"state":"open","locked":false,"title":"References once & trajectory generation","user":{"login":"barbalberto","id":4061020,"avatar_url":"https://avatars.githubusercontent.com/u/4061020?v=3","gravatar_id":"","url":"https://api.github.com/users/barbalberto","html_url":"https://github.com/barbalberto","followers_url":"https://api.github.com/users/barbalberto/followers","following_url":"https://api.github.com/users/barbalberto/following{/other_user}","gists_url":"https://api.github.com/users/barbalberto/gists{/gist_id}","starred_url":"https://api.github.com/users/barbalberto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/barbalberto/subscriptions","organizations_url":"https://api.github.com/users/barbalberto/orgs","repos_url":"https://api.github.com/users/barbalberto/repos","events_url":"https://api.github.com/users/barbalberto/events{/privacy}","received_events_url":"https://api.github.com/users/barbalberto/received_events","type":"User","site_admin":false},"body":"Thi PR aims to fix a problem on trajectories and improve the way references are sent to Gazebo internal simulation core in the following ways:\r\n\r\n- If there is no new reference does not publish new ref to Gazebo. This is required for\r\n  CER robot because 2 plugins will use the same Gazebo Joint and otherwise they will\r\n  always conflict onto each other\r\n\r\n- Previous trajectory generator had the following problem: if vel is very high and threshold to stop the   generator very small it could happend that the minimum increment step is higher than the threshold used\r\nto  stop the trajectory. 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