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_trajectory
compas_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.
- joint_trajectory
- Returns:
CancellableFutureResultAn instance of a cancellable future result.
Notes
This method does not support Multi-DOF Joint Trajectories.