carl_moveit¶

Service types¶

• carl_moveit/CallIK
• carl_moveit/CartesianPath

carl_moveit/CallIK¶

Field (Request):
	pose (geometry_msgs/PoseStamped) –
Field (Response):
	jointPositions[] (float64) – success (bool) –

geometry_msgs/PoseStamped pose
---
float64[] jointPositions
bool success

carl_moveit/CartesianPath¶

Field (Request):
	waypoints[] (geometry_msgs/Pose) – avoidCollisions (bool) –
Field (Response):
	success (bool) – completion (float64) –

geometry_msgs/Pose[] waypoints  # waypoints to plan Cartesian paths through (planning starts from current arm position)
bool avoidCollisions            # flag to enable/disable collision avoidance
---
bool success                    # true if a path was planned successfully
float64 completion              # percentage of the path planned

Action types¶

• carl_moveit/MoveToJointPose
• carl_moveit/WipeSurface
• carl_moveit/Pickup
• carl_moveit/Arm
• carl_moveit/MoveToPose
• carl_moveit/Store

carl_moveit/MoveToJointPose¶

Field (Goal):	joints[] (float32) – planningTime (float32) –
Field (Result):	success (bool) –
Field (Feedback):
	progress (float32) –

float32[] joints      # Full set of arm joint angles as a planning goal
float32 planningTime  # Maximum planning time, defaults to 5 seconds if unset
---
bool success          # True on successful planning and execution
---
float32 progress      # Approximate percentage of action complete

carl_moveit/WipeSurface¶

Field (Goal):	height (float64) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

float64 height # Height of surface to be wiped
---
bool success  # True on successful wipe
---
string message  # The current state message

carl_moveit/Pickup¶

Field (Goal):	pose (geometry_msgs/PoseStamped) – lift (bool) – verify (bool) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

geometry_msgs/PoseStamped pose  # End-effector pickup pose
bool lift                       # Flag for arm lifting after pickup
bool verify                     # Flag for grasp verification after gripper close/lift
---
bool success  # True on successful pickup
---
string message  # The current state message

carl_moveit/Arm¶

Constant (Goal):
	READY (uint8):0 – RETRACT (uint8):1 –
Field (Goal):	action (uint8) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

valid actions

# valid actions
uint8 READY=0
uint8 RETRACT=1

uint8 action  #action that the arm should take
---
bool success  # True on successful planning and execution
---
string message  # The current state message

carl_moveit/MoveToPose¶

Field (Goal):	pose (geometry_msgs/PoseStamped) – planningTime (float32) –
Field (Result):	success (bool) –
Field (Feedback):
	progress (float32) –

geometry_msgs/PoseStamped pose   # End-effector pose goal for planning
float32 planningTime      # Maximum planning time, defaults to 5 seconds if unset
---
bool success  # True on successful planning and execution
---
float32 progress  # Approximate percentage of action complete

carl_moveit/Store¶

Field (Goal):	store_pose (geometry_msgs/PoseStamped) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

geometry_msgs/PoseStamped store_pose    # end-effector pose for storing the held object
---
bool success  # True on successful store
---
string message  # The current state message