Dr. Wyatt McAllister

Does the !move_group_->getMoveGroupClient().getState().isDone() actually tell us if the trajectory has terminated in realtime? I can't find this in the documentation and several people have said the API does not have...

By realtime I just mean that if I condition a while loop on it like: while (!move_group_->getMoveGroupClient().getState().isDone() && ros::ok()){ } that it will continue to query the client and execute...

Thank you. > On Oct 6, 2021, at 2:14 PM, Michael Görner ***@***.***> wrote: > >  > > while (!move_group_->getMoveGroupClient().getState().isDone() && ros::ok()){} > > That should work as long...

I tried the above method and move_group_->getMoveGroupClient().getState() always returns success and the move it console says the trajectory was preempted. If I use the regular execute function, I can complete...

Well, it preempts itself because I blocked on that status variable, which is somehow returning SUCCESS when the robot is still moving. A better question is why would it return...