test_jtc_trajectories

Wrapper class for joint_trajectory_controller::Trajectory class, which is exported as Python module using pybind11.

install and run

• has to be inside src/ folder of a ROS 2 workspace.
• Build with colcon
• source your ROS2 workspace
• Run from any folder with python3 <path/to>/test_jtc_trajectories/plot_trajectory.py

resources

I followed the tutorial from https://www.matecdev.com/posts/cpp-call-from-python.html

One could also use the ROS data structures inside python, e.g. with https://gist.github.com/kervel/75d81b8c34e45a19706c661b90d02548. But as it is now, the python script does not need any other ROS dependencies.