Revision history [back]

but when I run the node, there is an error saying "Trajectory splicing not yet implemented, stopping current motion

the industrial_robot_client nodes don't support trajectory splicing (blending or stitching of subsequent trajectories).

You'll have to make sure that the previous trajectory has finished before sending a new one.

The /joint_path_command topic accepts trajectories, not single points, so sending it new trajectories at 10 Hz like the code does that you show will not work.

but when I run the node, there is an error saying "Trajectory splicing not yet implemented, stopping current motion

the industrial_robot_client nodes don't support trajectory splicing (blending or stitching of subsequent trajectories).

You'll have to make sure that the previous trajectory has finished before sending a new one.

The /joint_path_command topic accepts trajectories, not single points, so sending it new trajectories at 10 Hz like the code does that you show will not work.

so I am just trying to send a simple command to my TX90 robot arm, which has ROS integration. My final goal is to send a set of predefined waypoints to a cartesian planner, and publish that trajectory to the TX90 arm (end effector control).

Then create a single trajectory with as many points as you need (but know that dense trajectories typically result in slower motion). Send that complete trajectory in one msg to the /joint_path_command topic.

Or make use of the action server that is started by the driver launch file. That would accept FollowJointTrajectory actions, which are a little friendlier in use than a raw topic. For one thing, they would allow you to wait for trajectory execution to complete, and notify you when that happens.