Function robot_controllers::trajectoryFromMsg

• Defined in File trajectory.h

Function Documentation

inline bool robot_controllers::trajectoryFromMsg(const trajectory_msgs::msg::JointTrajectory &message, const std::vector<std::string> joints, const rclcpp::Time now, Trajectory *trajectory)

Convert message into Trajectory.

Parameters:

• message – The trajectory message.

• joints – Vector of joint names, used to order the values within a TrajectoryPoint

• trajectory – The returned trajectory

Returns:

True if trajectory generated, false otherwise.