Merge pull request #276 from knorth55/av-motion-plan-starttime

[pr2eus_moveit] pass start-offset-time as starttime to :send-trajectory
jsk-ros-pkg · Dec 30, 2016 · 3188e73 · 3188e73
2 parents b611995 + 0dc573f
commit 3188e73
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/pr2eus_moveit/euslisp/robot-moveit.l b/pr2eus_moveit/euslisp/robot-moveit.l
@@ -544,7 +544,9 @@
 
        (if use-send-angle-vector
            (send* self :joint-trajectory-to-angle-vector-list move-arm traj args)
-         (send* self :send-trajectory traj args))
+           (if start-offset-time
+             (send* self :send-trajectory traj :starttime start-offset-time args)
+             (send* self :send-trajectory traj args)))
        (if (listp av) av (list av)))))
   (:move-end-coords-plan ;;
    (cds &rest args &key (move-arm :larm) (reset-total-time 5000.0) (use-send-angle-vector) &allow-other-keys)