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execute_trajectory.hpp File

Included Headers​

#include <optional> #include <control_msgs/action/follow_joint_trajectory.hpp> #include <moveit_msgs/msg/planning_scene.hpp> #include <moveit_msgs/srv/get_planning_scene.hpp> #include <moveit_pro_behavior/utils/trajectory_execution_pipeline.hpp> #include <moveit_pro_behavior_interface/async_behavior_base.hpp> #include <moveit_pro_behavior_interface/shared_resources_node.hpp>

Namespaces Index​

namespacemoveit_pro
namespacebehaviors

Classes Index​

classExecuteTrajectory

Accepts a JointTrajectory message via an input data port, and executes it by sending a goal to either a standard FollowJointTrajectory action server (JTC) or a Joint Trajectory Admittance Controller (JTAC) action server, depending on the value of the execution_pipeline input port. More...

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