シンタックスハイライト
======================

.. code-block:: rostype

   # The joint trajectory to follow
   trajectory_msgs/JointTrajectory trajectory

   # Tolerances for the trajectory.  If the measured joint values fall
   # outside the tolerances the trajectory goal is aborted.  Any
   # tolerances that are not specified (by being omitted or set to 0) are
   # set to the defaults for the action server (often taken from the
   # parameter server).

   # Tolerances applied to the joints as the trajectory is executed.  If
   # violated, the goal aborts with error_code set to
   # PATH_TOLERANCE_VIOLATED.
   JointTolerance[] path_tolerance

   # To report success, the joints must be within goal_tolerance of the
   # final trajectory value.  The goal must be achieved by time the
   # trajectory ends plus goal_time_tolerance.  (goal_time_tolerance
   # allows some leeway in time, so that the trajectory goal can still
   # succeed even if the joints reach the goal some time after the
   # precise end time of the trajectory).
   #
   # If the joints are not within goal_tolerance after "trajectory finish
   # time" + goal_time_tolerance, the goal aborts with error_code set to
   # GOAL_TOLERANCE_VIOLATED
   JointTolerance[] goal_tolerance
   duration goal_time_tolerance

   ---
   int32 error_code
   int32 SUCCESSFUL = 0
   int32 INVALID_GOAL = -1
   int32 INVALID_JOINTS = -2
   int32 OLD_HEADER_TIMESTAMP = -3
   int32 PATH_TOLERANCE_VIOLATED = -4
   int32 GOAL_TOLERANCE_VIOLATED = -5

   # Human readable description of the error code. Contains complementary
   # information that is especially useful when execution fails, for instance:
   # - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
   #   trajectory is in the past).
   # - INVALID_JOINTS: The mismatch between the expected controller joints
   #   and those provided in the goal.
   # - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
   #   violated which tolerance, and by how much.
   string error_string

   ---
   Header header
   string[] joint_names
   trajectory_msgs/JointTrajectoryPoint desired
   trajectory_msgs/JointTrajectoryPoint actual
   trajectory_msgs/JointTrajectoryPoint error