(self, move_group)
| 189 | return plan |
| 190 | |
| 191 | def _go(self, move_group): |
| 192 | if not move_group.go(wait=True): |
| 193 | print("Execution failed! Going to retry with error recovery") |
| 194 | self.error_recovery_client.send_goal_and_wait(ErrorRecoveryActionGoal()) |
| 195 | return move_group.go(wait=True) |
| 196 | return True |
| 197 | |
| 198 | def _execute(self, move_group, plan, reset_err = True): |
| 199 | if not move_group.execute(plan, wait=True): |