skiros:tfTimeStamp usage in "plan_cartesian_fast"
In plan_cartesian_fast
this line sets
self.params["moveit/Target"].value.setProperty("skiros:TfTimeStamp", None)
if I do the same in plan_cartesian_fast_params
here it fails with:
bh_robot_1: VisitorExecutor error: Traceback (most recent call last):
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/skiros2/skiros2/skiros2_skill/src/skiros2_skill/core/visito
~ rs.py", line 159, in postProcessNode
bh_robot_1: state = self.postExecute(procedure)
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/skiros2/skiros2/skiros2_skill/src/skiros2_skill/core/skill_
~ utils.py", line 294, in postExecute
bh_robot_1: state = self._postExecute(skill)
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/skiros2/skiros2/skiros2_skill/src/skiros2_skill/core/skill_
~ utils.py", line 285, in _postExecute
bh_robot_1: return skill.tick()
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/skiros2/skiros2/skiros2_skill/src/skiros2_skill/core/skill.
~ py", line 309, in tick
bh_robot_1: res = self.execute()
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/skiros2/skiros2/skiros2_skill/src/skiros2_skill/core/skill.
~ py", line 517, in execute
bh_robot_1: res = self._instance.tick()
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/skiros2/skiros2/skiros2_common/src/skiros2_common/core/prim
~ itive.py", line 22, in tick
bh_robot_1: return_state = self.execute()
bh_robot_1: File "/home/matthias/Workspaces/blackdrops_ws/src/blackdrops/src/learning_skills/learning_primitives.py", lin
~ e 103, in execute
bh_robot_1: ee_lin = self.params["ee_pose"].value[0:3]
bh_robot_1: TypeError: 'NoneType' object has no attribute '__getitem__'
so I do this for now:
target.setProperty("skiros:TfTimeStamp", rospy.Time.now().to_sec()-10)