# Stretch2 doesn't move in Trajectory mode

**URL:** <https://forum.hello-robot.com/t/stretch2-doesnt-move-in-trajectory-mode/1193>\
**Category:** Ask\
**Created:** [January 10, 2025, 11:03am UTC](https://forum.hello-robot.com/t/stretch2-doesnt-move-in-trajectory-mode/1193 "2025-01-10T11:03:03Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Benoit](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/benoit/32/920_2.png) [@Benoit](https://forum.hello-robot.com/u/Benoit)\
**Post date:** [January 10, 2025, 11:03am UTC](https://forum.hello-robot.com/t/stretch2-doesnt-move-in-trajectory-mode/1193/1 "2025-01-10T11:03:03Z")

</div>

I cannot make the robot move in **trajectory** mode by sending a trajectory to a joint of my Stretch2 on ROS2 Humble. As an example, I have written a small script ( [Send trajectory · GitHub](https://gist.github.com/benoit-robotics/dfa5529b11ca3ee0d68da6d309f7a9b9) ) that sends a trajectory with two points to the driver.

The driver says that the trajectory was successfully executed but the arm doesn’t move at all.

> [stretch\_driver-3] [INFO] [1734691746.606287495] [stretch\_driver]: stretch\_driver joint\_traj action: new traj with 2 points over 4.0 seconds  
> [stretch\_driver-3] -------------------------------------------  
> [stretch\_driver-3] Finished goal  
> [stretch\_driver-3] [INFO] [1734691750.936843317] [stretch\_driver]: stretch\_driver joint\_traj action: traj succeeded!

In **position** mode, I can control the joints of the robot without any problem. This issue is very similar to [stretch3-lift-arm-does-not-move-in-trajectory-mode](https://forum.hello-robot.com/t/stretch3-lift-arm-does-not-move-in-trajectory-mode/1061) but the fix suggested in this topic (an update of the firmware ) doesn’t work in my case.

I would be interested to know if people can reproduce my issue or if they are able to use the **trajectory** mode via ROS. Any help would be appreciated. Thanks.