AS: code update

test/ros2_ws/src/joint_states_control/move_scaled_joint.py

@@ -12,28 +12,31 @@ class ScaledJointTrajectoryPublisher(Node):
             10
         )
 
-    def send_trajectory(self, joint_positions, duration=2.0):
-        """Publish a joint trajectory command to move the UR10e."""
-        msg = JointTrajectory()
-        msg.joint_names = [
-            "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
-            "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"
-        ]
+        try:
+            msg = JointTrajectory()
+            msg.joint_names = [
+                "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
+                "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"
+            ]
 
-        point = JointTrajectoryPoint()
-        point.positions = joint_positions  # Target joint positions
-        point.time_from_start.sec = int(duration)  # Duration in seconds
+            point = JointTrajectoryPoint()
+            point.positions = [2.0]*6  # Target joint positions
+            point.velocities = [2.0] * 6
+            point.accelerations = [2.0] * 6
+            #point.time_from_start.sec = int(2)
+            #point.time_from_start.nanosec = int(0)
+            msg.points.append(point)
 
-        msg.points.append(point)
-
-        self.publisher.publish(msg)
+            self.publisher.publish(msg)
+        except Exception as e:
+            print(f"Error publishing joint trajectory: {e}")
 
 def main():
     rclpy.init()
     node = ScaledJointTrajectoryPublisher()
 
     # Move to a target position
-    node.send_trajectory([0.0]*6)
+
 
     rclpy.spin(node)
     node.destroy_node()