Specifying new trajectory when old trajectory already running- `ur_modern_driver`
I have a trajectory running on the UR10 (in URSim) with 3 points. I'd like to interrupt and send new trajectory commands. I get an error:
Goal start doesn't match current pose
I looked into : https://github.com/ThomasTimm/ur_mode...
A possible way to solve this is by specifying the time_from_start
as non-zero value. How do I get the current time to make sure the current pose is considered as first point of the trajectory. I tried time_from_start=rospy.Duration(rospy.Time.now()))
but it doesn't work.