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