cannot find follow_joint_trajectory topic in ur_robot_driver package

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Hello everyone.

I have been stuck on that a few days, that's why, maybe even being a simple question, I decided to ask.

right now i have been running a UR10 with a personal project using the already deprecated ur_modern_driver package.

I found that, even being a great package, after calling a follow_joint_trajectory order ( in ur_ros_wrapper.cpp) there was no post-checks and automatically a setSucceeded call was sended(https://github.com/ros-industr... ). Due to the needs of my project, i wanted to solve that, but I decided to directly switch to the new and official ros driver for UR (ur_robot_driver) I tough it was a good idea also thinking in a future buy of a e-series robot.

The problem is that i would like to check how actually works the follow_joint_trajectory implementation but I am unable to find it. I am starting to think that, even the packagle clearly says it's compatible, the implementation is inside a dependency of the system. If i do not find it, I am gonna work on checking using rostopic info command, but the robot have been (and will be, for a while) busy with production.

Thanks for any clue on that!