From 0dc573f8b5dea157d297efeab0e78ab9b3562780 Mon Sep 17 00:00:00 2001 From: Shingo Kitagawa Date: Tue, 27 Dec 2016 22:01:56 +0900 Subject: [PATCH] pass start-offset-time to :send-trajectory --- pr2eus_moveit/euslisp/robot-moveit.l | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/pr2eus_moveit/euslisp/robot-moveit.l b/pr2eus_moveit/euslisp/robot-moveit.l index b8419a106..148d6a427 100644 --- 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)