old_contents: #!/usr/bin/env python
  
  import pyexotica as exo
  from numpy import array
  from numpy import matrix
  from pyexotica.publish_trajectory import *
  
  exo.Setup.initRos()
  (sol, prob)=exo.Initializers.loadXMLFull('{exotica_examples}/resources/configs/time_indexed_sampling_demo.xml')
  problem = exo.Setup.createProblem(prob)
  solver = exo.Setup.createSolver(sol)
  solver.specifyProblem(problem)
  
  solution = solver.solve()
  
  Ts = solution[:,0]
  solution = solution[:,1:]
  print(Ts)
  print(solution)
  publishTimeIndexedTrajectory(solution, Ts, problem)
  
new_contents: #!/usr/bin/env python
  
  import pyexotica as exo
  from numpy import array
  from numpy import matrix
  from pyexotica.publish_trajectory import *
  
  exo.Setup.initRos()
  (sol, prob)=exo.Initializers.loadXMLFull('{exotica_examples}/resources/configs/time_indexed_sampling_demo.xml')
  problem = exo.Setup.createProblem(prob)
  solver = exo.Setup.createSolver(sol)
  solver.specifyProblem(problem)
  
  solution = solver.solve()
  
  Ts = solution[:,0]
  solution = solution[:,1:]
  #print(Ts)
  #print(solution)
  publishTimeIndexedTrajectory(solution, Ts, problem)
  
subject: remove print out