planning_msgs¶

Message types¶

• planning_msgs/Binding
• planning_msgs/Plan
• planning_msgs/Step

planning_msgs/Binding¶

Constant:	STRING (int32):0 – INT (int32):1 – FLOAT (int32):2 – SYMBOL (int32):3 –
Field:	type (int32) – key (string) – value (string) –

Constants for determining the datatype encapsulated in the value string

# Constants for determining the datatype encapsulated in the `value` string
int32 STRING=0
int32 INT=1
int32 FLOAT=2
int32 SYMBOL=3

# The actual fields
int32 type
string key
string value

planning_msgs/Plan¶

Field:	steps[] (planning_msgs/Step) – score (float32) – duration[] (float32) –

Step[] steps

# This score is the same as the root step's score; placing it here as
# well out of convience reasons for the receiving node.
float32 score
float32[] duration

planning_msgs/Step¶

Field:	id (int32) – parent (int32) – type (string) – pattern (string) – call_pattern[] (string) – bindings[] (planning_msgs/Binding) – score (float32) – duration[] (float32) –

int32 id
int32 parent
string type
string pattern
string[] call_pattern
Binding[] bindings
float32 score
float32[] duration

Service types¶

• planning_msgs/Planning

planning_msgs/Planning¶

Constant (Request):
	OSPT (string):"ospt" – PSPT (string):"pspt" – LPFO (string):"lpfo" –
Field (Request):
	pattern (string) – bindings[] (planning_msgs/Binding) – scoring_methods[] (string) –
Field (Response):
	plans[] (planning_msgs/Plan) – unused_bindings[] (string) –

Scoring methods

# Scoring methods
string OSPT="ospt"
string PSPT="pspt"
string LPFO="lpfo"

# Request fields
string pattern
Binding[] bindings
string[] scoring_methods
---
# Response fields
Plan[] plans
string[] unused_bindings