This code seems to assume that robot_command is blocking, and that the robot will achieve each waypoint in the trajectory before moving on to the next one. This is incorrect (see #10). robot_command returns immediately, and will tell the robot to follow the entire trajectory for the duration specified. The user is expected to query for command feedback until the trajectory is complete.
https://github.com/microsoft/spot-ros-wrapper/blob/7a22c6715de60d41b50d43e8e63a708c7e6b4bab/spot_ros_interface/scripts/spot_ros_interface.py#L171
This code seems to assume that
robot_commandis blocking, and that the robot will achieve each waypoint in the trajectory before moving on to the next one. This is incorrect (see #10).robot_commandreturns immediately, and will tell the robot to follow the entire trajectory for the duration specified. The user is expected to query for command feedback until the trajectory is complete.