Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

The best way to do that is probably computeTimeStamps() within time_optimal_trajectory_generation.h. You'll have to write a bit of code to combine all your trajectory messages in one large robot_trajectory::RobotTrajectory, then run computeTimeStamps() to blend the vias together with velocities and accelerations.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.