def load_goal_msg(self, trajectory_ns, trajectory_param):
# derive parameter full name
if trajectory_ns:
trajectory_param = trajectory_ns + '/' + trajectory_param
# Load FollowStepSequenceGoal from Parameter Server
goal_raw = rospy.get_param(trajectory_param)
if not isinstance(goal_raw, xmlrpclib.Binary):
raise TypeError, "ExecuteJointTrajectory: ROS parameter '" + trajectory_param + "' is not a binary data."
# deserialize
goal = FollowJointTrajectoryGoal()
goal.deserialize(goal_raw.data)
return goal
