From 0ad8ccaae4ac91ca7f5e6791a67178dc9dfb4c77 Mon Sep 17 00:00:00 2001
From: abubeck <aub@ipa.fhg.de>
Date: Thu, 12 Mar 2015 15:26:48 +0100
Subject: [PATCH] port of PR #157 to indigo
---
ur_driver/src/ur_driver/driver.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 1134ea7..92da083 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -759,7 +759,7 @@ class URTrajectoryFollower(object):
# Inserts the current setpoint at the head of the trajectory
now = time.time()
- point0 = sample_traj(self.traj, now)
+ point0 = sample_traj(self.traj, now - self.traj_t0)
point0.time_from_start = rospy.Duration(0.0)
goal_handle.get_goal().trajectory.points.insert(0, point0)
self.traj_t0 = now
--
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