Matt Zucker

Makes sense, and there are workarounds. Thanks.

I also asked on the UR forums: https://forum.universal-robots.com/t/are-safety-planes-exposed-to-ros/16546 Maybe someone at UR will get excited about making this possible?

I like the idea of publishing on a topic and letting users integrate with it how they want. I also agree that a header would be important to establish which...

Thanks for looking into it! The error seems to be happening here: Looks like it's triggered because the name of the [SRDF robot](https://github.com/fmauch/universal_robot/blob/calibration_devel/ur10_moveit_config/config/ur10.srdf#L6) (in this case "ur10_robot") does not match...

I'm not sure if this is the same issue, but I wrote a test program that reliably repeats the Unexpected error: No trajectory defined at current time. Please contact the...

Over in https://github.com/PickNikRobotics/ros_control_boilerplate/issues/56#issuecomment-948564075, @RobertWilbrandt confirms independently that my code can trigger this bug, if it's any help.

I figured out how to do this for a project of my own today. See https://gist.github.com/mzucker/b0846f304b48702ff2530294134ae879 Interestingly, I needed to monkey-patch the triangle Python library, otherwise I got a KeyError...

Created a pull request, let me know if it passes muster. This was my first time editing Sphinx and my first pull request on github in a very long time,...

Glad to help!

This is only a warning -- not an error. Should be harmless. Can you verify that output is produced?