Pilz LIN planner deviates from target linear speed when rotation is involved in a move about moveit2

[pfucile]

This is probably because of the way KDL handles synchronization between translation and rotation, using eqradius.

See path_line.cpp used by pilz planner trajectory_generator.cpp

/**
* Constructs a Line Path
* F_base_start and F_base_end give the begin and end frame wrt the base
* orient gives the method of rotation interpolation
* eqradius : equivalent radius :
*		serves to compare rotations and translations.
*		the "amount of motion"(pos,vel,acc) of the rotation is taken
*      to be the amount motion of a point at distance eqradius from the
*      rotation axis.
*
* Eqradius is introduced because it is unavoidable that you have to compare rotations and translations :
* e.g. : You can have motions that only contain rotation, and motions that only contain translations.
* The motion planning goes as follows :
*  - translation is planned with the given parameters
*  - rotation is planned planned with the parameters calculated with eqradius.
*  - The longest of the previous two remains unchanged,
*    the shortest in duration is scaled to take as long as the longest.
* This guarantees that the geometric path in 6D space remains independent of the motion profile parameters.

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