Hi, I have this [test](https://github.com/sinaiaranda-CIDESI/motoman_mh6-10/blob/master/test.cpp). The idea is generate small trajectories within cycles and that the robot moves. I want to vary the delays between each trajectory.the problem is that [group.execute(my_plan)](https://github.com/sinaiaranda-CIDESI/motoman_mh6-10/blob/master/test.cpp#L105) does not wait for the robot to be in target position. It seems that trajectories are accumulated without executing and aborts the system. ![Screenshot%20from%202018-05-18%2017%3A52%3A38|690x388](upload://a67I09526bxSjQG30yYgPoHFLva.png) --- [Visit Topic](https://discourse.ros.org/t/motoman-mh6-10-compute-and-execute-plan-of-cartesian-path-in-time-real/4832/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: