"Trajectory splicing not yet implemented, stopping current motion"

[shreyasgan]

Hello,

I am trying to send my Staubli TX90 robot arm a Joint Trajectory command which publishes to /joint_path_command, which the motion_streaminginterface node subscribes to. My code complies and build correctly, but when I run the node, there is an error saying "Trajectory splicing not yet implemented, stopping current motion." I looked online and noticed that: // read current state value (should be atomic) int state = this->state;

ROS_DEBUG("Current state is: %d", state); if (TransferStates::IDLE != state) { if (msg->points.empty()) ROS_INFO("Empty trajectory received, canceling current trajectory"); else ROS_ERROR("Trajectory splicing not yet implemented, stopping current motion.");

     this->mutex_.lock();
trajectoryStop();
     this->mutex_.unlock();
return;

This is my code for the node that I am running to communicate with the robot arm and subscribe to /joint_states and publish to /joint_path_command:

using namespace std;

sensor_msgs::JointState JS;

void jointStateCallback(const sensor_msgs::JointState msg) { JS = msg; }

int main(int argc, char** argv) { ros::init(argc, argv, "mover_node"); ros::NodeHandle n; ros::AsyncSpinner spinner(1); spinner.start();
bool success; ros::Publisher joint_pub = n.advertise("/joint_path_command", 1); ros::Subscriber joint_sub = n.subscribe("/joint_states", 1, jointStateCallback);

ros::Rate rate(10.0);

trajectory_msgs::JointTrajectory JT;

JT.joint_names.clear();
JT.joint_names.push_back("joint_1");
JT.joint_names.push_back("joint_2");
JT.joint_names.push_back("joint_3");
JT.joint_names.push_back("joint_4");
JT.joint_names.push_back("joint_5");
JT.joint_names.push_back("joint_6");

JT.points.resize(1);
JT.points[0].positions.resize(JT.joint_names.size());

while(ros::ok())

{ //if(JS.position.size() != 0) cout << JT << endl; JT.points[0].positions = JS.position; JT.points[0].positions += 0.1;

JT.points[0].time_from_start = ros::Duration(0.0001);

if(JS.position.size() != 0)
    joint_pub.publish(JT);
rate.sleep();

}

[gavanderhoorn]

You also posted this on ROS Answers (here). I've responded there.

For the future: please refrain from cross-posting like this. It is not a very nice practice.

[SunnyKatyara]

Dear shreyasgan, i am also facing the same issue. I have cartesian planner that gives me out on the topic with sensor_msgs/JointState and in order to command the robot, the type of topic is trajectory_msgs/TrajectoryState. Can you please help me how did you do that?

Thank You