ExecuteTrajectory

This state allows you to execute an already computed joint trajectory. This can be used to simplify the execution of predetermined and constant motions going through known waypoints.

Outcomes

This state has two outcomes: success (green socket) and failure (red socket). If the configuration of the state is wrong, or if the JointTrajectory cannot be executed by MoveIt!, failure is returned. Return the other outcome if the operation is successful.

How to configure

Once dropped in the task editor, you should see one or two parameters appear in the state:

• group_name: Name of the MoveIt! group that should execute the given trajectory. This slot will not appear if only one group is defined.

• trajectory_name: Name of the trajectory to execute. By default, will look for it inside the userdata. If not found, will be retrieved from the corresponding manager.

Example of use

You can find a concrete example of how to use this state, here.