RosClient.follow_joint_trajectory

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

Follow the joint trajectory as computed by MoveIt planner.

Parameters:
joint_trajectorycompas_fab.robots.JointTrajectory

Instance of joint trajectory. Note: for backwards compatibility, this supports a ROS Msg being passed as well.

action_namestring

ROS action name, defaults to /joint_trajectory_action but some drivers need /follow_joint_trajectory.

callbackcallable

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

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:
CancellableTask

An instance of a cancellable tasks.