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unable to access members of control_msgs::FollowJointTrajectoryAction

asked 2015-10-06 03:48:16 -0600

zenifed gravatar image

I am trying to write a action client to send pose command to my dynamixal servo. Following the tutorial , I created a cpp version. I had issues in accessing the member attribute joint_names for control_msgs::FollowJointTrajectoryAction object and was given

error: ‘control_msgs::FollowJointTrajectoryAction’ has no member named ‘joint_names’

The documentation clearly shows the member attribute declared. I am really not sure what is causing the issue.

Below is a snippet of the code

actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> ac("/left_arm_controller/follow_joint_trajectory/", true);

ROS_INFO("Waiting for action server to start.");
// wait for the action server to start
ac.waitForServer(); //will wait for infinite time

ROS_INFO("Action server started, sending goal.");

control_msgs::FollowJointTrajectoryAction goal;
goal.joint_names = {"Shoulder"};

trajectory_msgs::JointTrajectoryPoint point;
point.positions={5};
point.time_from_start=ros::Duration(5.0);

goal.desired = point;

ac.sendGoal(goal);
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answered 2015-10-06 04:27:46 -0600

zenifed gravatar image

it seems that I have misunderstood the .action file to be like message definition. Reading the http://wiki.ros.org/actionlib documentation , it will seem that the action file will generate 3 message object

  • FollowJointTrajectoryGoal
  • FollowJointTrajectoryResult
  • FollowJointTrajectoryFeedBack

each for the different action state.

The objectType FollowJointTrajectoryGoal will be used to send the goals.

Will test this out and update the result.

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Asked: 2015-10-06 03:48:16 -0600

Seen: 590 times

Last updated: Oct 06 '15