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Hi everyone, I had the same problem. The code doesn't work.

When the code arrive @ std::stringstream ss; line I read :

please input e to execute the plan, r to replan, others to skip: e Errore di segmentazione (core dump creato)

        group.execute(my_plan);


std::stringstream ss;

      count++;
      moveit_msgs::RobotTrajectory msg;  
      msg =my_plan.trajectory_;
      std::vector<trajectory_msgs::MultiDOFJointTrajectoryPoint> trajectory_points;  

     std::vector<int>::size_type size1 = msg.joint_trajectory.points.size(); 


      for (unsigned i=0; i<size1; i++)  
      {  

          ss << "point_index: " << i << std::endl  

             << "positions: "  
             << "[" << msg.joint_trajectory.points[i].positions[0]

             << "," << msg.joint_trajectory.points[i].positions[1]

             << "," << msg.joint_trajectory.points[i].positions[2]

             << "," << msg.joint_trajectory.points[i].positions[3]

             << "," << msg.joint_trajectory.points[i].positions[4]

             << "," << msg.joint_trajectory.points[i].positions[5]
             << "," << msg.joint_trajectory.points[i].positions[6]

             << "]" << std::endl; 


     }  
          std::ofstream outfile ("/home/points.txt",std::ios::app);         outfile<<"trajectory"<<count<<std::endl;
        outfile<<msg.multi_dof_joint_trajectory.joint_names[0]<<std::endl;      outfile<<ss.str()<<std::endl;
            outfile.close();



    }