update all Objectives executing via JTC to use ExecuteTrajectory

marioprats · marioprats · commit 7e053c6c49dd · 2025-12-17T13:17:40.000+01:00
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
@@ -38,13 +38,9 @@
         />
       </Control>
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
       <Action
         ID="GetCameraInfo"
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
@@ -38,13 +38,9 @@
         />
       </Control>
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
       <Action
         ID="GetCameraInfo"
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
@@ -38,13 +38,9 @@
         />
       </Control>
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
       <Action
         ID="GetCameraInfo"
diff --git a/src/factory_sim/objectives/plan_and_execute_with_position_only.xml b/src/factory_sim/objectives/plan_and_execute_with_position_only.xml
@@ -85,12 +85,9 @@
                 name="Optionally execute trajectory and return to start joint state"
               >
                 <Action
-                  ID="ExecuteFollowJointTrajectory"
-                  execute_follow_joint_trajectory_action_name="{controller_action_server}"
-                  goal_duration_tolerance="-1.000000"
-                  goal_position_tolerance="0.000000"
-                  goal_time_tolerance="0.000000"
-                  joint_trajectory_msg="{joint_trajectory_msg}"
+                  ID="ExecuteTrajectory"
+                  execution_pipeline="follow_joint_trajectory_action"
+                  controller_action_name="{controller_action_server}"
                 />
                 <SubTree
                   ID="Move to Joint State"
diff --git a/src/grinding_sim/objectives/grind_machined_part.xml b/src/grinding_sim/objectives/grind_machined_part.xml
@@ -95,12 +95,9 @@
       <!--Wait for user to approve the grinding path and then execute it-->
       <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
       <!--Move away from the part after completing the grinding path-->
       <SubTree
diff --git a/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml b/src/hangar_sim/objectives/cartesian_draw_geometry_from_file.xml
@@ -60,12 +60,9 @@
             path="{pose_stamped_msgs}"
           />
           <Action
-            ID="ExecuteFollowJointTrajectory"
-            execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-            goal_duration_tolerance="-1.000000"
-            goal_position_tolerance="0.000000"
-            goal_time_tolerance="0.000000"
-            joint_trajectory_msg="{joint_trajectory_msg}"
+            ID="ExecuteTrajectory"
+            execution_pipeline="follow_joint_trajectory_action"
+            controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
           />
         </Control>
       </Control>
diff --git a/src/hangar_sim/objectives/cartesian_plan_simple_square.xml b/src/hangar_sim/objectives/cartesian_plan_simple_square.xml
@@ -111,12 +111,9 @@
       <Action ID="IsUserAvailable" />
       <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/compute_ik_plan_and_move.xml b/src/hangar_sim/objectives/compute_ik_plan_and_move.xml
@@ -58,12 +58,9 @@
         activate_controllers="joint_trajectory_controller"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/find_and_spray_plane.xml b/src/hangar_sim/objectives/find_and_spray_plane.xml
@@ -71,12 +71,9 @@
       />
       <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml b/src/hangar_sim/objectives/generate_grid_pattern_on_airplane.xml
@@ -64,12 +64,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/plan_path_along_surface.xml b/src/hangar_sim/objectives/plan_path_along_surface.xml
@@ -103,13 +103,9 @@
         debug_solution="{debug_solution}"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml b/src/hangar_sim/objectives/solution_-_find_and_spray_plane.xml
@@ -71,12 +71,9 @@
       />
       <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/solution_draw_picknik.xml b/src/hangar_sim/objectives/solution_draw_picknik.xml
@@ -56,12 +56,9 @@
             path="{pose_stamped_msgs}"
           />
           <Action
-            ID="ExecuteFollowJointTrajectory"
-            execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-            goal_duration_tolerance="-1.000000"
-            goal_position_tolerance="0.000000"
-            goal_time_tolerance="0.000000"
-            joint_trajectory_msg="{joint_trajectory_msg}"
+            ID="ExecuteTrajectory"
+            execution_pipeline="follow_joint_trajectory_action"
+            controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
           />
         </Control>
       </Control>
diff --git a/src/hangar_sim/objectives/solution_draw_square.xml b/src/hangar_sim/objectives/solution_draw_square.xml
@@ -111,12 +111,9 @@
       <Action ID="IsUserAvailable" />
       <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/solution_generate_coverage_path.xml b/src/hangar_sim/objectives/solution_generate_coverage_path.xml
@@ -64,12 +64,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/hangar_sim/objectives/solution_spray_plane.xml b/src/hangar_sim/objectives/solution_spray_plane.xml
@@ -61,12 +61,9 @@
       />
       <Action ID="WaitForUserTrajectoryApproval" solution="{debug_solution}" />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/pick_from_pose.xml b/src/lab_sim/objectives/pick_from_pose.xml
@@ -97,13 +97,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/pick_from_pose_with_approval.xml b/src/lab_sim/objectives/pick_from_pose_with_approval.xml
@@ -103,13 +103,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/place_at_pose.xml b/src/lab_sim/objectives/place_at_pose.xml
@@ -97,13 +97,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/place_at_pose_with_approval.xml b/src/lab_sim/objectives/place_at_pose_with_approval.xml
@@ -96,13 +96,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/lab_sim/objectives/playback_square_trajectory.xml b/src/lab_sim/objectives/playback_square_trajectory.xml
@@ -33,12 +33,9 @@
         velocity_scale_factor="1.0"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_franka_configs/dual_arm_sim/objectives/draw.xml b/src/moveit_pro_franka_configs/dual_arm_sim/objectives/draw.xml
@@ -55,13 +55,9 @@
           tip_links="{tip_link}"
         />
         <Action
-          ID="ExecuteFollowJointTrajectory"
-          execute_follow_joint_trajectory_action_name="{execute_follow_joint_trajectory_action_name}"
-          joint_trajectory_msg="{joint_trajectory_msg}"
-          goal_position_tolerance="0.000000"
-          goal_time_tolerance="0.000000"
-          goal_duration_tolerance="-1.000000"
-          trajectory_remainder="{joint_trajectory_remainder}"
+          ID="ExecuteTrajectory"
+          execution_pipeline="follow_joint_trajectory_action"
+          controller_action_name="{execute_follow_joint_trajectory_action_name}"
         />
       </Control>
     </Control>
diff --git a/src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/draw.xml b/src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/draw.xml
@@ -42,12 +42,9 @@
           tip_links="{tip_link}"
         />
         <Action
-          ID="ExecuteFollowJointTrajectory"
-          execute_follow_joint_trajectory_action_name="{execute_follow_joint_trajectory_action_name}"
-          joint_trajectory_msg="{joint_trajectory_msg}"
-          goal_position_tolerance="0.000000"
-          goal_time_tolerance="0.000000"
-          goal_duration_tolerance="-1.000000"
+          ID="ExecuteTrajectory"
+          execution_pipeline="follow_joint_trajectory_action"
+          controller_action_name="{execute_follow_joint_trajectory_action_name}"
         />
       </Control>
     </Control>
diff --git a/src/moveit_pro_franka_configs/kitchen_sim/objectives/wipe_text.xml b/src/moveit_pro_franka_configs/kitchen_sim/objectives/wipe_text.xml
@@ -38,13 +38,9 @@
         velocity_scale_factor="1.000000"
       />
       <Action
-        ID="ExecuteFollowJointTrajectory"
-        execute_follow_joint_trajectory_action_name="/joint_trajectory_controller/follow_joint_trajectory"
-        goal_duration_tolerance="-1.000000"
-        goal_position_tolerance="0.000000"
-        goal_time_tolerance="0.000000"
-        joint_trajectory_msg="{joint_trajectory_msg}"
-        trajectory_remainder="{joint_trajectory_remainder}"
+        ID="ExecuteTrajectory"
+        execution_pipeline="follow_joint_trajectory_action"
+        controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
       />
     </Control>
   </BehaviorTree>
diff --git a/src/moveit_pro_franka_configs/kitchen_sim/objectives/write_text.xml b/src/moveit_pro_franka_configs/kitchen_sim/objectives/write_text.xml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_to_joint_state.xml
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/april_tag_object_registration.xml
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
diff --git a/src/moveit_pro_ur_configs/mock_sim/objectives/move_along_path.xml b/src/moveit_pro_ur_configs/mock_sim/objectives/move_along_path.xml
diff --git a/src/moveit_pro_ur_configs/mock_sim/objectives/rrt_connect_test.xml b/src/moveit_pro_ur_configs/mock_sim/objectives/rrt_connect_test.xml
diff --git a/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_path_ik_example.xml b/src/moveit_pro_ur_configs/multi_arm_sim/objectives/multi_tip_path_ik_example.xml
