joint_trajectory_action [closed]

edit

Hello all,

So I am encountering some weirdness the my joint_trajectory_action. I am using warehouse planner and my launch file is configured as such:

<launch>
  <param name="/use_sim_time" value="true" />
  <include file="$(find H20_robot_arm_navigation)/launch/H20_robot_planning_environment.launch" />



  <node pkg="planning_environment" name="wall_clock_server" type="fake_time.py" />

  <param name="warehouse_host" value="localhost"/>
  <param name="warehouse_port" value="27020"/>
  <node name="mongo" type="wrapper.py" pkg="mongodb">
    <param name="overwrite" value="false"/>
    <param name="database_path" value="arm_navigation_dbs/H20_robot"/>
  </node>

  <include file="$(find planning_environment)/launch/environment_server.launch">
    <arg name="use_monitor" value="true" />
    <arg name="use_collision_map" value="false" />
  </include>
  <include file="$(find H20_robot_arm_navigation)/launch/constraint_aware_kinematics.launch" />
  <include file="$(find H20_robot_arm_navigation)/launch/ompl_planning.launch" />
  <include file="$(find H20_robot_arm_navigation)/launch/trajectory_filter_server.launch" />
  <node pkg="robot_state_publisher" type="state_publisher" name="rob_st_pub" />
  <node name="planning_scene_warehouse_viewer" pkg="move_arm_warehouse" type="planning_scene_warehouse_viewer" />

  <node name="interpolated_ik_node_right" pkg="interpolated_ik_motion_planner" 
    type="interpolated_ik_motion_planner.py" args="r" respawn="false" output="screen">
    <param name="robot_prefix" type="string" value="H20_robot"/>
    <param name="consistent_angle" type="double" value="1.05"/>
  </node>
  <node name="interpolated_ik_node_left" pkg="interpolated_ik_motion_planner" 
    type="interpolated_ik_motion_planner.py" args="l" respawn="false" output="screen">
    <param name="robot_prefix" type="string" value="H20_robot"/>
    <param name="consistent_angle" type="double" value="1.05"/>
  </node>

  <node pkg="rviz" type="rviz" name='rviz_warehouse_viewer' args="-d $(find H20_robot_arm_navigation)/config/planning_scene_warehouse_viewer.vcg" />


    <!-- Start H20 specific nodes -->
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find learning_urdf)/H20_urdf.urdf'" />
    <rosparam file="$(find drrobot_jaguar4x4_player)/drrobotplayer_Hawk_H20.yaml" command="load"/>
   <node pkg="drrobot_jaguar4x4_player" type="left_joint_trajectory_action" name="left_joint_trajectory_action"/>
   <node pkg="drrobot_jaguar4x4_player" type="right_joint_trajectory_action" name="right_joint_trajectory_action"/>
   <node pkg="drrobot_jaguar4x4_player" name="H20_player" type="H20_player" output="screen"/>
   <node pkg="drrobot_jaguar4x4_player" name="drrobot_keyboard_teleop" type="drrobot_keyboard_teleop" output="screen"/>




  <!-- Called when left arm executes trajectory using controllers -->
  <param name="execute_left_trajectory" value="/left_joint_trajectory_action" />
  <!-- Called when right arm executes trajectory using controllers -->
  <param name="execute_right_trajectory" value="/right_joint_trajectory_action" />
  <!-- Called to get left arm inverse kinematics with collision checking -->
  <param name="left_ik_name" value="/H20_robot_left_arm_kinematics/get_constraint_aware_ik" />
  <!-- Called to get right arm inverse kinematics with collision checking -->
  <param name="right_ik_name" value="/H20_robot_right_arm_kinematics/get_constraint_aware_ik" />
  <!-- Called to get left arm inverse kinematics without collision checking -->
  <param name="non_coll_left_ik_name" value="/H20_robot_left_arm_kinematics/get_ik" />
  <!-- Called to get right arm inverse kinematics without collision checking -->
  <param name="non_coll_right_ik_name" value="/H20_robot_right_arm_kinematics/get_ik" />
  <!-- Kinematic chain group name representing the left arm -->
  <param name="left_arm_group" value="left_arm" />
  <!-- Kinematic chain group name representing the right arm -->
  <param name="right_arm_group" value="right_arm" />
  <!-- Degree of freedom representing inverse kinematics redundancy on the left arm -->
  <param name="left_redundancy" value="none" />
  <!-- Degree of freedom representing inverse kinematics redundancy on the right arm -->
  <param name="right_redundancy" value="none" />
  <!-- Link on the left arm to perform inverse kinematics for -->
  <param name="left_ik_link" value="left_hand_link" />
  <!-- Link on the right arm to perform inverse kinematics for -->
  <param name="right_ik_link" value="right_hand_link" />
  <!-- Called to plan trajectories given motion plan requests -->
  <param name="planner_service_name" value="/ompl_planning/plan_kinematic_path" />
  <!-- Interpolates between end effector positions for the left arm -->
  <param name="left_interpolate_service_name" value="/l_interpolated_ik_motion_plan" />
  <!-- Interpolates between end effector positions for the right arm -->
  <param name="right_interpolate_service_name" value="/r_interpolated_ik_motion_plan" />
  <!-- Called to smooth and optimize a planner trajectory -->
  <param name="trajectory_filter_service_name" value="/trajectory_filter_server/filter_trajectory_with_constraints" />
  <!-- Called to get the proximity space -->
  <param name ...