From 279566120072ca146538ce56bba05eaf9c20a665 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Mon, 6 Nov 2023 14:12:25 +0100 Subject: [PATCH] Add PipelineState msg --- CMakeLists.txt | 1 + msg/MotionPlanRequest.msg | 2 +- msg/PipelineState.msg | 8 ++++++++ 3 files changed, 10 insertions(+), 1 deletion(-) create mode 100644 msg/PipelineState.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index 9a7139f..ba824c4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -73,6 +73,7 @@ set(msg_files "msg/WorkspaceParameters.msg" "msg/KinematicSolverInfo.msg" "msg/PositionIKRequest.msg" + "msg/PipelineState.msg" "msg/ServoStatus.msg" ) diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg index c2e1b4b..bbeba0e 100644 --- a/msg/MotionPlanRequest.msg +++ b/msg/MotionPlanRequest.msg @@ -53,6 +53,6 @@ float64 max_acceleration_scaling_factor # Maximum cartesian speed for the given link. # If max_cartesian_speed <= 0 the trajectory is not modified. -# These fields require the following planning request adapter: default_planner_request_adapters/LimitMaxCartesianLinkSpeed +# These fields require the following planning request adapter: default_planning_request_adapters/LimitMaxCartesianLinkSpeed string cartesian_speed_limited_link float64 max_cartesian_speed # m/s diff --git a/msg/PipelineState.msg b/msg/PipelineState.msg new file mode 100644 index 0000000..71a6ddf --- /dev/null +++ b/msg/PipelineState.msg @@ -0,0 +1,8 @@ +# Motion plan response that is processed +MotionPlanRequest request + +# Current solution +MotionPlanResponse response + +# Latest stage of the planning pipeline that got invoked +string pipeline_stage