How can I execute a moveit_msgs::RobotTrajectory that I have on file?

asked 2018-07-12 11:52:30 -0500

Levi_Manring
5 ●5 ●6 ●10

updated 2018-07-12 14:13:27 -0500

I am trying to execute a RobotTrajectory on a MoveGroup that I have predefined. I have tried stuff like

group.execute(myRobotTrajectory)

and

trajectory_execution_manager::TrajectoryExecutionManager::push(myRobotTrajectory);
trajectory_execution_manager::TrajectoryExecutionManager::execute();

and

move_group::MoveGroupExecuteTrajectoryAction(myRobotTrajectory);

I think the last one is the closest, but it says that the action isn't recognized. Any tips?

answered 2018-07-12 15:12:27 -0500

Levi_Manring
5 ●5 ●6 ●10

Ok, so this is what I did to solve this issue.

I created a fake plan, then populated the .trajectory_ with my robot trajectory. Then I executed. Here is my code:

      moveit::planning_interface::MoveGroup::Plan my_plan2;
      my_plan2.trajectory_ = *myRobotTrajectory;
      group.execute(my_plan2);

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Comments

I tried executing a planned trajectory one more time using

move_group.execute(my_plan);

that was computed successfully, but the robot doesn't move in rviz, although in the terminal it says

Fake execution of trajectory

Completed trajectory execution with status SUCCEEDED ...

any tips? thanks

hooman ( 2019-02-12 20:09:06 -0500 )edit

@hooman this is a Q&A site, not a forum. Please ask this as a new question and provide as many of the relevant details about your setup as you can. (ROS version, Robot type and version, any tutorials you're following or specific programs you're trying to run).