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The error

[ERROR] [1358114072.409449185]: No ealier segments. First segment starts at 27.536 (now=27.534)

comes from joint_trajectory_action, but if you use rxconsole you should be see more info from the error messages.

W.r.t. the contact publishing, the plugin publishes only when a contact is present.

The error

[ERROR] [1358114072.409449185]: No ealier segments. First segment starts at 27.536 (now=27.534)

comes from joint_trajectory_action, but if you use rxconsole you should be see more info from the error messages.

W.r.t. the contact publishing, the plugin publishes only when a contact is present.