robossembler/runtime
7
0
Fork 0
Code Issues 5 Pull requests Projects Releases Packages Wiki Activity Actions

fix: concurency in skill nodes

Browse source
This commit is contained in:
Ilya Uraev 2025-04-07 13:01:25 +03:00
parent adf84ebec7
commit 0798720a4c
8 changed files with 159 additions and 19 deletions
Download patch file Download diff file Expand all files Collapse all files

13
rbs_skill_interfaces/action/MoveitSendPose.action
View file

@ -1,19 +1,12 @@
##Description: Moves robot arm to a specified pose relative to the frame in header.frame_id of target_pose
#goal definition
#Used to indicate which hardcoded motion constraint to use
#e.g 0 no constraint, 1 keep the same end effector orientation
int32 constraint_mode
#similar to geometry_msgs/PoseStamped but using euler instead of quaternion
#at target_pose->header.frame_id define the tf frame
# which the pose will be calculated relative from
geometry_msgs/Pose target_pose
string robot_name
float32 end_effector_velocity
float32 end_effector_acceleration
float32 duration #if this action cannot be completed within this time period it should be considered failed.
float32 duration
string planner_id
string pipeline_id
float32 allowed_planning_time
bool try_plan_untill_success
---
#result definition
bool success