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add mtp with orientation constraint

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Ilya Uraev 2025-03-12 11:11:15 +03:00
parent cf692ff4c1
commit 049227dac5
6 changed files with 193 additions and 4 deletions
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1
rbs_skill_interfaces/CMakeLists.txt
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@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"action/MoveitSendPose.action"
"action/MoveitSendJointStates.action"
"action/GripperCommand.action"
"action/MoveitSendPoseWithConstraints.action"
"action/RbsBt.action"
"msg/ObjectInfo.msg"
"msg/PropertyValuePair.msg"

15
rbs_skill_interfaces/action/MoveitSendPoseWithConstraints.action Normal file
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@ -0,0 +1,15 @@
int32 constraint_mode
geometry_msgs/Pose target_pose
moveit_msgs/OrientationConstraint orientation_constraint
string robot_name
float32 end_effector_velocity
float32 end_effector_acceleration
float32 duration
---
bool success
uint64 millis_passed
string status
---
bool success
uint64 millis_passed
string status