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This is a (temporary) copy of an archived page (here) of the (old) MoveIt! wiki documentation. It is here for archival purposes only, and is not part of the official MoveIt! documentation.

The Trajectory Execution Manager

Bits of code in MoveIt! that need to deal with execution of trajectories use a helper class: the trajectory execution manager. Given a moveit_msgs::RobotTrajectory message, the trajectory execution manager is used to pass the moveit_msgs::RobotTrajectory message to a MoveIt! Controller Manager Plugin implemented as above (the plugin specified under the ROS parameter ~/moveit_controller_manager is loaded by the trajectory execution manager).


2019-12-07 12:36