Skip to content

ExecuteFollowJointTrajectory -> ExecuteTrajectory #456

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
marioprats wants to merge 2 commits into
base: main
Choose a base branch
from
Open

ExecuteFollowJointTrajectory -> ExecuteTrajectory #456

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c63cce9
update Objective to use ExecuteTrajectory
marioprats Dec 16, 2025
238ea57
update all Objectives executing via JTC to use ExecuteTrajectory
marioprats Dec 17, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 3 additions & 7 deletions src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,13 +38,9 @@
/>
</Control>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
<Action
ID="GetCameraInfo"
Expand Down
10 changes: 3 additions & 7 deletions src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,13 +38,9 @@
/>
</Control>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
<Action
ID="GetCameraInfo"
Expand Down
10 changes: 3 additions & 7 deletions src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,13 +38,9 @@
/>
</Control>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
<Action
ID="GetCameraInfo"
Expand Down
9 changes: 3 additions & 6 deletions src/factory_sim/objectives/plan_and_execute_with_position_only.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -85,12 +85,9 @@
name="Optionally execute trajectory and return to start joint state"
>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="{controller_action_server}"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="{controller_action_server}"
/>
<SubTree
ID="Move to Joint State"
Expand Down
9 changes: 3 additions & 6 deletions src/grinding_sim/objectives/grind_machined_part.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -95,12 +95,9 @@
<!--Wait for user to approve the grinding path and then execute it-->
<Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
<!--Move away from the part after completing the grinding path-->
<SubTree
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,12 +60,9 @@
path="{pose_stamped_msgs}"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</Control>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/cartesian_plan_simple_square.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -111,12 +111,9 @@
<Action ID="IsUserAvailable" />
<Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/compute_ik_plan_and_move.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,12 +58,9 @@
activate_controllers="joint_trajectory_controller"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/find_and_spray_plane.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,12 +71,9 @@
/>
<Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,12 +64,9 @@
velocity_scale_factor="1.000000"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 3 additions & 7 deletions src/hangar_sim/objectives/plan_path_along_surface.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -103,13 +103,9 @@
debug_solution="{debug_solution}"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,12 +71,9 @@
/>
<Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/solution_draw_picknik.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,9 @@
path="{pose_stamped_msgs}"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</Control>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/solution_draw_square.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -111,12 +111,9 @@
<Action ID="IsUserAvailable" />
<Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/solution_generate_coverage_path.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,12 +64,9 @@
velocity_scale_factor="1.000000"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/hangar_sim/objectives/solution_spray_plane.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,12 +61,9 @@
/>
<Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/lab_sim/objectives/load_and_execute_joint_trajectory.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,9 @@
debug_solution="{debug_solution}"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 3 additions & 7 deletions src/lab_sim/objectives/pick_from_pose.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,13 +97,9 @@
velocity_scale_factor="1.000000"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 3 additions & 7 deletions src/lab_sim/objectives/pick_from_pose_with_approval.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -103,13 +103,9 @@
velocity_scale_factor="1.000000"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 3 additions & 7 deletions src/lab_sim/objectives/place_at_pose.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -97,13 +97,9 @@
velocity_scale_factor="1.000000"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 3 additions & 7 deletions src/lab_sim/objectives/place_at_pose_with_approval.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,13 +96,9 @@
velocity_scale_factor="1.000000"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
9 changes: 3 additions & 6 deletions src/lab_sim/objectives/playback_square_trajectory.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,9 @@
velocity_scale_factor="1.0"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
goal_duration_tolerance="-1.000000"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
/>
</Control>
</BehaviorTree>
Expand Down
10 changes: 3 additions & 7 deletions src/moveit_pro_franka_configs/dual_arm_sim/objectives/draw.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,13 +55,9 @@
tip_links="{tip_link}"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="{execute_follow_joint_trajectory_action_name}"
joint_trajectory_msg="{joint_trajectory_msg}"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
goal_duration_tolerance="-1.000000"
trajectory_remainder="{joint_trajectory_remainder}"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="{execute_follow_joint_trajectory_action_name}"
/>
</Control>
</Control>
Expand Down
9 changes: 3 additions & 6 deletions src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/draw.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,9 @@
tip_links="{tip_link}"
/>
<Action
ID="ExecuteFollowJointTrajectory"
execute_follow_joint_trajectory_action_name="{execute_follow_joint_trajectory_action_name}"
joint_trajectory_msg="{joint_trajectory_msg}"
goal_position_tolerance="0.000000"
goal_time_tolerance="0.000000"
goal_duration_tolerance="-1.000000"
ID="ExecuteTrajectory"
execution_pipeline="follow_joint_trajectory_action"
controller_action_name="{execute_follow_joint_trajectory_action_name}"
/>
</Control>
</Control>
Expand Down
Loading
Loading