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I found the answer, the pr2_controller_msgs/JointTrajectoryActionGoal is an old method of using the joint trajectory action control. I changed over the tutorial code to use:
#include <control_msgs/FollowJointTrajectoryAction.h>
instead of:
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
and any calls like:
pr2_controllers_msgs::JointTrajectoryGoal
to:
control_msgs::FollowJointTrajectoryGoal
Works fine but now I'm encountering a different run-time error, however I don't know the cause of this one yet. I will try to update if I find an answer!
Regards, Martin