Is it the plan result produced by tesseract is "trajopt/display_tesseract_trajectory" to drive real robot

[dbdxnuliba]

Is it the plan result produced by tesseract is "trajopt/display_tesseract_trajectory" and I subscribe this topic in robot driver such as ur_driver ,to driver real robot, is there a interface like follow_joint_trajectory to driver real robot such as moveit provided.

[Levi-Armstrong]

The results should be return when you make a planning request. Then you must create a FollowJointTrajectoryAction and submit it to execute the trajectory. There is a conversion utility to convert the composite to the Trajectory message needed by the action.

[dbdxnuliba]

ok, where can I found the code to show usage demo about conversion utility and planning request