How to use TOPP-RA

[RPS98]

Hello everyone,

I have doubts about the correct use of TOPP-RA. In the case of wanting to send trajectory references (topic: tracker/input_trajectory), what is the correct way to construct and send the message?

In my tests, I have sent the message only once, with the frame_id field set to world and the timestamp of the sending. In the points field, the list of points to pass through. However, the drone makes a small movement and stops, not reaching the target points.

Therefore, my doubts are:

• Should the message be sent once or iteratively?
• If it needs to be sent iteratively, should it have the same timestamp in each message?
• Should the frame_id field be world? Or is the received trajectory in another frame?
• Is there a way to know if it has received the trajectory correctly and when it has finished?

Thank you very much for the help.
Rafael

Console log:

[FATAL] [1707301667.945663, 3372.791000]: ToppTracker - Odometry recieved but not planning from odom                                      
[INFO] [1707301668.082397, 3372.928000]: ToppTracker - Position hold disabled                                                             
[INFO] [1707301669.093688, 3373.938000]: ToppTracker - Position hold disabled                                                             
[INFO] [1707301670.096074, 3374.939000]: ToppTracker - Position hold disabled                                                             
Interpolating points                                                                                                                      
0.9036570145864767                                                                                                                        
End:  x: 1.0                                                                                                                              
y: 0.75                                                                                                                                   
z: 1.8 -3.141592653589793                                                                                                                 
Start:  x: 1.500000000030194                                                                                                              
y: 1.4999999999907305                                                                                                                     
z: 1.8639999999613601 -1.045305986653747e-08                                                                                              
[1.500000000030194]                                                                                                                       
[1.4999999999907305]                                                                                                                      
[-1.045305986653747e-08]                                                                                                                  
Recieved point:  1.500000000030194 1.4999999999907305 1.8639999999613601 -1.045305986653747e-08                                           
Recieved point:  1.0 0.75 1.8 -3.141592653589793                                                                                          
Recieved point:  7.0 0.75 1.8 -3.141592653589793                                                                                          
Recieved point:  13.0 0.75 1.8 -3.141592653589793                                                                                         
Recieved point:  19.0 0.75 1.8 -3.141592653589793                                                                                         
Recieved point:  19.0 6.0 1.8 -3.141592653589793                                                                                          
Recieved point:  19.0 13.5 1.8 -3.141592653589793                                                                                         
Recieved point:  19.0 13.5 4.6 -3.141592653589793                                                                                         
Recieved point:  19.0 13.5 7.4 -3.141592653589793                                                                                         
                                                                                                                                          
Generating TOPP-RA trajectory.                                                                                                            
Time elapsed:  0.02472376823425293                                                                                                        
ToppTracker: Converting trajectory to multi dof                                                                                           
ToppTracker - hold disabled, clearing trajectory!                                                                                         
[FATAL] [1707301670.991203, 3375.832000]: ToppTracker - Odometry recieved but not planning from odom

What does the error message hold disabled mean and how do you fix it?"

[fpetric]

Again, missed these. Feel free to tag me :) I will have our topp-ra trajectory tracking people take a look.