def filter( self, trajectory ): # rospy.loginfo( 'filtering trajectory:\n %s'%trajectory ) request = FilterJointTrajectoryWithConstraintsRequest() request.allowed_time = rospy.Duration.from_sec(5.0); request.trajectory = trajectory try: response = self.proxy( request ) if response.error_code.val == response.error_code.SUCCESS: return response.trajectory else: rospy.logerr( 'Trajectory was not filtered! (error: %s)'%response.error_code.val ) return None except rospy.ServiceException, e: rospy.logerr( 'service call failed: %s'%e) return None