play_motion_msgs

Summary

play_motion_msgs
Version:

0.4.1
Description:

Messages, services and actions used by play_motion.
Maintainers:
  • Bence Magyar <bence DOT magyar AT pal-robotics DOT com>
Licenses:
  • BSD
Authors:
  • Paul Mathieu <paul DOT mathieu AT pal-robotics DOT com>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

play_motion_msgs/MotionInfo
Field:
  • name (string) –
  • joints[] (string) –
  • duration (duration) – 
string name
string[] joints
duration duration

Service types

play_motion_msgs/IsAlreadyThere
Field (Request):
 
  • motion_name (string) –
  • tolerance (float32) –
Field (Response):
 
  • already_there (bool) –

Checks if the robot joint state matches the first point of a given motion

Robot joint positions will be checked against the values found in the motion’s first point, given a tolerance. Joints that are not targetted by the given motion will not be considered.

# Checks if the robot joint state matches the first
# point of a given motion
#
# Robot joint positions will be checked against the
# values found in the motion's first point, given a
# tolerance.
# Joints that are not targetted by the given motion
# will not be considered.

string motion_name
float32 tolerance   # in radians
---
bool already_there
play_motion_msgs/ListMotions
Field (Response):
 

Returns the list of currently loaded motions that can be played by play_motion

# Returns the list of currently loaded motions that can be played by play_motion

---
MotionInfo[] motions

Action types

play_motion_msgs/PlayMotion
Field (Goal):
  • motion_name (string) –
  • skip_planning (bool) –
  • priority (int32) –
Field (Result):
  • error_code (int32) –
  • error_string (string) –
Constant (Result):
 
  • SUCCEEDED (int32):1 –
  • MOTION_NOT_FOUND (int32):-1 –
  • CONTROLLER_BUSY (int32):-3 –
  • MISSING_CONTROLLER (int32):-4 –
  • TRAJECTORY_ERROR (int32):-5 –
  • GOAL_NOT_REACHED (int32):-6 –
  • PLANNER_OFFLINE (int32):-7 –
  • NO_PLAN_FOUND (int32):-8 –
  • OTHER_ERROR (int32):-42 – 
string motion_name
bool skip_planning
int32 priority
---
int32 error_code
int32 SUCCEEDED             = 1
int32 MOTION_NOT_FOUND      = -1
# controller error codes
int32 CONTROLLER_BUSY       = -3
int32 MISSING_CONTROLLER    = -4
int32 TRAJECTORY_ERROR      = -5
int32 GOAL_NOT_REACHED      = -6
# planner error codes
int32 PLANNER_OFFLINE       = -7
int32 NO_PLAN_FOUND         = -8
#other
int32 OTHER_ERROR           = -42

string error_string
---