fix: replaced the hardcoded path, fixed time_from_start in autoreg.py#59
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mhubii merged 2 commits intoApr 15, 2026
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…rom_start in autoreg.py
garylvov
reviewed
Apr 3, 2026
| point = JointTrajectoryPoint() | ||
| point.positions = joint_state.tolist() | ||
| point.time_from_start = self.get_clock().now().to_msg() | ||
| point.time_from_start.sec = 5 |
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is this always 5 sec? Can we instead parse this dynamically somehow?
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Went in and changed send_goal to send_goal_async in execute_trajectory_().
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Hi @mhubii I'm working with my student Shivaani here. Do you mind taking a quick peek at this when you get the chance? We're going to be working on bimanual, automatic arm-to-arm extrinsic registration next ;) Thank you! |
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Hi @garylvov, sounds amazing. Got an important thing tomorrow, will have more time afterwards! Maybe if you guys keep contributing so much, is there a way to give you some autonomy here? |
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thanks for the contribution @shivaaniV ! Sorry for the delay. Let's merge this for now, however, this |
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Made three fixes to autoreg.py :
(1) Replaced the hardcoded path in main() with a ROS2 parameter declared in init() instead.
(2) In execute_trajectory_(), time_from_start was set to current clock time; changed this to a duration, so robot has 5 seconds between poses.
(3) execute_trajectory_() had no 'return True', so run() always treated trajectory execution as failed; added 'return True' at the end. (Didn't touch this, but might also be worth changing send_goal to send_goal_async.)