added basic action client node for a trajectory following integration test

ur_rtde_driver/scripts/trajectory_test.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+
+import rospy
+import actionlib
+from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryGoal
+from trajectory_msgs.msg import JointTrajectoryPoint
+
+def main(position_list, duration_list):
+    rospy.init_node('trajectory_testing_client')
+    client = actionlib.SimpleActionClient('/scaled_pos_traj_controller/follow_joint_trajectory', FollowJointTrajectoryAction)
+    client.wait_for_server()
+    goal = FollowJointTrajectoryGoal()
+
+    goal.trajectory.joint_names = ["elbow_joint", "shoulder_lift_joint", "shoulder_pan_joint", "wrist_1_joint",
+            "wrist_2_joint", "wrist_3_joint"]
+
+    for i in range(len(position_list)):
+        point = JointTrajectoryPoint()
+        point.positions = position_list[i]
+        point.time_from_start = rospy.Duration(duration_list[i])
+        goal.trajectory.points.append(point)
+
+    client.send_goal(goal)
+    client.wait_for_result()
+
+    return client.get_result().error_code == 0
+
+
+
+
+if __name__ == '__main__':
+    position_list = [[0.0 for i in range(6)]]
+    position_list.append([-0.5 for i in range(6)])
+    position_list.append([-1.0 for i in range(6)])
+    duration_list = [6.0, 9.0, 12.0]
+
+    print(main(position_list, duration_list))