Add test for preempting a trajectory with SJTC #812
Description
Feature summary
Since we recently had the issue of the SJTC not correctly aborting motions if the trajectory action was aborted, we added a test that verifies that it now does. We could do the same for preempting a trajectory.
Related issues
- Fix sjtc to correctly aborts on violation of constraints #810 contains the test and the fix for aborting due to constraint validations
Tasks
To complete this issue involves
- Make Unit test
- Test on real hardware