Get trajectory from MTC solution

[therealbeni]

Is there a way to easily get the joint space trajectory for the entire task. We would like to send the q, q_dot, and q_ddot of our robot to our controllers for execution. This would leave the ROS space and therefore we would need to "export" the trajectory as for example a vector?

[rhaschke]

There is no function for this as individual stages typically involve different controllers and joint sets. Also, one typically wants to execute PlanningScene changes, e.g. attaching objects, between individual trajectory executions.

However, if - in your case - the joint sets for all stages are identical and you don't care about PlanningScene changes, you can manually concatenate the individual subtrajectories from all stages. Just convert the solution to the corresponding ROS message (task.solutions[0].toMsg()) and iterate over all sub_trajectory items.