Issue getting Path from PathfindHolonomic command using PathplannerLib

Technical Java
1

We are using the PathfindHolonomic command from the PathplannerLib, but are having trouble retrieving the path it generates. We don’t know how to, and any help would be appreciated.

   Command pathfindingCommand = new PathfindHolonomic(
            targetPose,
            constraints,
            goalEndVelocity,
            s_Swerve::getPose,
            s_Swerve::getChassisSpeeds,
            s_Swerve::driveChassisSpeeds,
            Constants.Swerve.pathFollowingConfig, // Path following config
            rotationDelayDistance,
            s_Swerve);
2

I would suggest you tell us what you are actually trying to do. There may be a better way to do it.

If you run the command you can get the path via the activepathcallback

I don’t think there is a way currently to get the path without running it.

3

We got the solutuion

4

I am happy you found a solution but one of the benefits of CD is to be a resource to future teams with the same problem. Can you explain the solution?

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