From b11908a42d2952e9b5d392e32269484728e51306 Mon Sep 17 00:00:00 2001 From: Griswald Brooks Date: Thu, 26 Mar 2026 16:58:24 -0400 Subject: [PATCH] 17722 Update hangar_sim to use the JTC in the Point-to-Point objective instead of the JTAC, which is the new default --- src/hangar_sim/objectives/point-to-point_trajectory.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/hangar_sim/objectives/point-to-point_trajectory.xml b/src/hangar_sim/objectives/point-to-point_trajectory.xml index 0e87fc354..fabafdd47 100644 --- a/src/hangar_sim/objectives/point-to-point_trajectory.xml +++ b/src/hangar_sim/objectives/point-to-point_trajectory.xml @@ -19,6 +19,8 @@ controller_names="joint_trajectory_controller" target_joint_state="{target_joint_state}" execution_pipeline="jtc" + controller_action_server="/joint_trajectory_controller/follow_joint_trajectory" + acceleration_scale_factor="1.0" />