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_trajectory
compas_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_actionbut 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.
- joint_trajectory
- Returns:
CancellableTaskAn instance of a cancellable tasks.