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Is there any topic to preview the planned path?
Hello, I m using follow_joint_trajectory to control my universal robot, while I notice that after I send the trajectory goal, the robot immediately started to move. As mentioned, is there any topic to preview the planned path?
As mentioned, is there any topic to preview the planned path?
There is no planning involved. The provided trajectory is executed directly by interpolating and forwarding the way-points at control rate.
I see this service to to query the trajectory at a future time:
https://github.com/ros-controls/ros_controllers/blob/aa9c32b8ea8f83cb578cde82619f78e720fef89c/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h#L657-L683
It may not be too hard to modify that to respond with a whole trajectory along a range of times instead of just a single one (like from the current time to the request time), or add a publisher in there that does that on a regular basis.