Merge branch 'master' into reserve_example11

.github/mergify.yml

@@ -32,19 +32,20 @@ pull_request_rules:
       - author=mergify[bot]
     actions:
         comment:
-          message: This pull request is in conflict. Could you fix it @bmagyar @dstogl @christophfroehlich?
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?
 
   - name: development targets master branch
     conditions:
       - base!=master
       - author!=bmagyar
-      - author!=dstogl
+      - author!=destogl
       - author!=christophfroehlich
+      - author!=saikishor
       - author!=mergify[bot]
       - author!=dependabot[bot]
     actions:
         comment:
           message: |
             @{{author}}, all pull requests must be targeted towards the `master` development branch.
-            Once merged into `master`, it is possible to backport to @{{base}}, but it must be in `master`
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
             to have these changes reflected into new distributions.

example_7/reference_generator/send_trajectory.cpp

@@ -81,7 +81,7 @@ int main(int argc, char ** argv)
       trajectory_point_msg.positions.data(), joint_positions.data.data(),
       trajectory_point_msg.positions.size() * sizeof(double));
     std::memcpy(
-      trajectory_point_msg.velocities.data(), joint_positions.data.data(),
+      trajectory_point_msg.velocities.data(), joint_velocities.data.data(),
       trajectory_point_msg.velocities.size() * sizeof(double));
 
     // integrate joint velocities