Invalid trajectory error when setting durations <1 s using the cartesian trajectory controller
tomse-h opened this issue · 2 comments
When I try to send a trajectory goal with the time_from_start parameter set to a value <1 s, the controller aborts indicating an invalid trajectory. Is there a lower bound for the movement duration?
Hi @tomse-h
Is there a lower bound for the movement duration?
No, not really. But the time_from_start durations of the waypoints must be strictly increasing. Note that the current robot state is implicitly prepended as first waypoint with time_from-start = 0 to the user-defined trajectory. If something converts your <1 to an integer (=0), that would fail.
Could you rostopic echo on the goal topic and post the output here?
Hi, thanks for the reply. It was indeed that case, that something in my program converted the duration to an integer and thus to 0.