Forums Niryo One Programming Niryo One Queuing move goals Reply To: Queuing move goals

achernov
Participant
Post count: 7

Here (https://github.com/logogin/niryo_one_ros/compare/e3aae6d609a5d485c0ab89a2b864e0ea934db095…master) is the code that we’ve wrote.


def send_trajectory_direct(self, plan):
        #rospy.logwarn("Send trajectory direct message %s", plan)
        #msg = plan.joint_trajectory
        msg = JointTrajectory()
        msg.header.stamp = rospy.Time.now()
        msg.joint_names = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
        msg.points = plan.joint_trajectory.points
        #rospy.logwarn("Joint Trajectory Publisher msg: %s", msg)
        self.joint_trajectory_publisher.publish(msg)

If we send a new target position to send_trajectory_direct then the arm stops at first and only then moves along the new trajectory. Do you have an idea what could be the reason for it?

  • This reply was modified 9 months, 2 weeks ago by  achernov.
  • This reply was modified 9 months, 2 weeks ago by  achernov.