[ros-users] [Discourse.ros.org] [ROS-Industrial] Motoman MH6-10 Compute and Execute Plan of Cartesian Path in Time Real

[Sinaí Aranda]

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)





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