Executing a preplanned trajectory

[burheisenberg]

I was working on the C++ files as I don't know much about ROS2. I tried to set a custom trajectory on one of the example controllers and in the control loop I set the next step according to a velocity formulation and based on the time passed. I got velocity and acceleration limit error and my trajectory did not work.

Now, I have two questions is there a way to execute a preplanned trajectory? Also, my setup is ubuntu 22.04, ros humble. I will update libfranka and franka_ros2 verdions when I get back to my setup.