RosClient.execute_joint_trajectory

RosClient.execute_joint_trajectory(joint_trajectory, action_name='/execute_trajectory', callback=None, errback=None, feedback_callback=None, timeout=60000)[source]

Execute a joint trajectory via the MoveIt infrastructure.

Parameters:
joint_trajectorycompas_fab.robots.JointTrajectory

Instance of joint trajectory.

callbackcallable

Function to be invoked when the goal is completed, requires one positional parameter result.

action_namestring

ROS action name, defaults to /execute_trajectory.

errbackcallable

Function to be invoked in case of error or timeout, requires one position parameter exception.

feedback_callbackcallable

Function to be invoked during execution to provide feedback.

timeoutint

Timeout for goal completion in milliseconds.

Returns:
CancellableFutureResult

An instance of a cancellable future result.

Notes

This method does not support Multi-DOF Joint Trajectories.