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Prevent startup placeholder positions from seeding the head mover trajectory by withholding joint states until every configured motor has returned feedback. Keep polling while waiting and cover feedback arrival order, initial zero positions, and subsequent updates with hardware-free tests.
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Imo missing motors should be dropped from the array, but partial joint states should still be propergared, so a disconnected head motor doesn't crash the walking for example. Publishing default is bad, I agree with that. |
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Summary
Wait for feedback from every configured motor before publishing
joint_states.Proposed changes
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pixi run build