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.


This method does not support Multi-DOF Joint Trajectories.

  • joint_trajectory (compas_fab.robots.JointTrajectory) – Instance of joint trajectory.

  • callback (callable) – Function to be invoked when the goal is completed, requires one positional parameter result.

  • action_name (string) – ROS action name, defaults to /execute_trajectory.

  • errback (callable) – Function to be invoked in case of error or timeout, requires one position parameter exception.

  • feedback_callback (callable) – Function to be invoked during execution to provide feedback.

  • timeout (int) – Timeout for goal completion in milliseconds.


CancellableFutureResult – An instance of a cancellable future result.