From 300e395d241d910ddc3cde0a8a6485ce0d1cfa28 Mon Sep 17 00:00:00 2001 From: Christina Gomez Date: Mon, 11 Nov 2013 16:43:14 -0600 Subject: [PATCH] Added keywords to arguments for new message instance of JointTrajectoryPoint(). Arguments were previously "in order" but the keyword arguments are recommended as they are more resilient to msg changes. --- ur_driver/src/ur_driver/driver.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py index 392e7c0d9..7255c10f7 100755 --- a/ur_driver/src/ur_driver/driver.py +++ b/ur_driver/src/ur_driver/driver.py @@ -381,7 +381,7 @@ def interp_cubic(p0, p1, t_abs): q[i] = a + b*t + c*t**2 + d*t**3 qdot[i] = b + 2*c*t + 3*d*t**2 qddot[i] = 2*c + 6*d*t - return JointTrajectoryPoint(q, qdot, qddot, rospy.Duration(t_abs)) + return JointTrajectoryPoint(positions=q, velocities=qdot, accelerations=qddot, time_from_start=rospy.Duration(t_abs)) # Returns (q, qdot, qddot) for sampling the JointTrajectory at time t. # The time t is the time since the trajectory was started.