Do not need to execute planned trajectories on real robot. (#105)

Author: mpinol

tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/mover.py

@@ -43,7 +43,7 @@ def plan_trajectory(move_group, destination_pose, start_joint_angles):
     move_group.set_start_state(moveit_robot_state)
 
     move_group.set_pose_target(destination_pose)
-    plan = move_group.go(wait=True)
+    plan = move_group.plan()
 
     if not plan:
         exception_str = """
@@ -52,7 +52,7 @@ def plan_trajectory(move_group, destination_pose, start_joint_angles):
         """.format(destination_pose, destination_pose)
         raise Exception(exception_str)
 
-    return planCompat(move_group.plan())
+    return planCompat(plan)
 
 
 """

tutorials/pick_and_place/Scripts/TrajectoryPlanner.cs

@@ -129,7 +129,7 @@ public void PublishJoints()
 
     void TrajectoryResponse(MoverServiceResponse response)
     {
-        if (response.trajectories != null)
+        if (response.trajectories.Length > 0)
         {
             Debug.Log("Trajectory returned.");
             StartCoroutine(ExecuteTrajectories(response));