Is your feature request related to a problem? Please describe.

Our robot has linear actuators and angular actuators. We have an allowed_start_tolerance of 0.05, which is ok for angles, but a bit high for the translations. We pre-compute trajectories, so when there is a bug we are often saved by this value. However, we would like to lower it for the linear actuators, but we cannot without requiring a greater accuracy from our angular actuators.

Describe the solution you'd like

We could set a parameter, a simple key-value map for each joint, that the trajectory execution manager would check before executing trajectory, and the allowed_start_tolerance would acts as a default if the joint doesn't have an assigned start tolerance.

Describe alternatives you've considered

More simply, we could split the allowed_start_tolerance between linear and angular actuators. This is not ideal but it might be a bit easier to implement.

Additional question

I am using MoveIt! one but we may also want it in MoveIt! 2. How should I do in this case? Create an issue in both projects? Create an issue in MoveIt! 2 and reference it on an issue here?