Is there anyway to wait for "FollowJointTrajectory" action client to connect to the server?

[ogios]

sometimes the client is not connected when i try to execute a trajectory, the server is up, it's just not connected, maybe due to threading issues or anything.

if i want to execute a trajectory before the action client is connected to the server, it will raise:

[xarm_controller.py-1] [INFO] [1769161776.443124618] [moveit_610719517.moveit.ros.trajectory_execution_manager]: Starting trajectory execution ...
[xarm_controller.py-1] [INFO] [1769161776.443249584] [moveit_610719517.moveit.plugins.simple_controller_manager]: Returned 3 controllers in list
[xarm_controller.py-1] [INFO] [1769161776.443312435] [moveit_610719517.moveit.plugins.simple_controller_manager]: Returned 3 controllers in list
[xarm_controller.py-1] [ERROR] [1769161776.443567410] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: uf850_traj_controller/follow_joint_trajectory
[xarm_controller.py-1] [ERROR] [1769161776.443620860] [moveit_610719517.moveit.ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller uf850_traj_controller
[xarm_controller.py-1] [INFO] [1769161776.443648417] [moveit_610719517.moveit.ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...

i've searched the source code but haven't found anything that can does the job, maybe i missed it?

i'm using MoveItPy