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Commit d12adce6 authored by Jan Weber's avatar Jan Weber
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Fixed timing problems when switching to trajectory mode

parent fa7546a1
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......@@ -173,11 +173,11 @@ bool AbbEgmRobotInterface::jointTrajectoryCall(const trajectory_msgs::JointTraje
ROS_INFO("Stop current static goal to follow new trajectory");
else
ROS_WARN("Could not stop the static goal even though the interface switched from static goal mode to trajectory mode.");
ros::Duration(0.1).sleep();
}
if(interface_mode != INTERFACE_TRAJECTORY){
interface_mode = INTERFACE_TRAJECTORY;
ros::Duration(0.5).sleep();
ros::Duration(1.5).sleep();
}
// An empty ROS trajectory means that the robot should stop
......
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