26 lines
986 B
Text
26 lines
986 B
Text
##Description: Moves robot arm to a specified pose relative to the frame in header.frame_id of target_pose
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#goal definition
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#Used to indicate which hardcoded motion constraint to use
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#e.g 0 no constraint, 1 keep the same end effector orientation
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int32 constraint_mode
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#similar to geometry_msgs/PoseStamped but using euler instead of quaternion
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#at target_pose->header.frame_id define the tf frame
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# which the pose will be calculated relative from
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geometry_msgs/Pose target_pose
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string robot_name
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float32 end_effector_velocity
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float32 end_effector_acceleration
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float32 duration #if this action cannot be completed within this time period it should be considered failed.
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string planner_id
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string pipeline_id
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---
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#result definition
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bool success
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uint64 millis_passed
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string status #Use the constants of ActionResultStatusConstants in the status field
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---
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#feedback
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bool success
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uint64 millis_passed
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string status #Use the constants of ActionFeedbackStatusConstants in the status field
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