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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:




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