motion_planning_msgs/FilterJointTrajectory Service

File: motion_planning_msgs/FilterJointTrajectory.srv

# The trajectory to filter
trajectory_msgs/JointTrajectory trajectory
# A vector of JointLimit messages.
# Each message contains the limits for a specific joint
motion_planning_msgs/JointLimits[] limits
# Total allowed time for filtering
duration allowed_time
---
trajectory_msgs/JointTrajectory trajectory
ArmNavigationErrorCodes error_code

Expanded Definition

trajectory_msgs/JointTrajectory trajectory
    Header header
        uint32 seq
        time stamp
        string frame_id
    string[] joint_names
    trajectory_msgs/JointTrajectoryPoint[] points
        float64[] positions
        float64[] velocities
        float64[] accelerations
        duration time_from_start
motion_planning_msgs/JointLimits[] limits
    string joint_name
    uint8 has_position_limits
    float64 min_position
    float64 max_position
    uint8 has_velocity_limits
    float64 max_velocity
    uint8 has_acceleration_limits
    float64 max_acceleration
duration allowed_time

trajectory_msgs/JointTrajectory trajectory
    Header header
        uint32 seq
        time stamp
        string frame_id
    string[] joint_names
    trajectory_msgs/JointTrajectoryPoint[] points
        float64[] positions
        float64[] velocities
        float64[] accelerations
        duration time_from_start
ArmNavigationErrorCodes error_code
    int32 PLANNING_FAILED=-1
    int32 SUCCESS=1
    int32 TIMED_OUT=-2
    int32 START_STATE_IN_COLLISION=-3
    int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4
    int32 GOAL_IN_COLLISION=-5
    int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6
    int32 INVALID_ROBOT_STATE=-7
    int32 INCOMPLETE_ROBOT_STATE=-8
    int32 INVALID_PLANNER_ID=-9
    int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
    int32 INVALID_ALLOWED_PLANNING_TIME=-11
    int32 INVALID_GROUP_NAME=-12
    int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
    int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
    int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
    int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
    int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
    int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18
    int32 INVALID_TRAJECTORY=-19
    int32 INVALID_INDEX=-20
    int32 JOINT_LIMITS_VIOLATED=-21
    int32 PATH_CONSTRAINTS_VIOLATED=-22
    int32 COLLISION_CONSTRAINTS_VIOLATED=-23
    int32 GOAL_CONSTRAINTS_VIOLATED=-24
    int32 JOINTS_NOT_MOVING=-25
    int32 TRAJECTORY_CONTROLLER_FAILED=-26
    int32 FRAME_TRANSFORM_FAILURE=-27
    int32 COLLISION_CHECKING_UNAVAILABLE=-28
    int32 ROBOT_STATE_STALE=-29
    int32 SENSOR_INFO_STALE=-30
    int32 NO_IK_SOLUTION=-31
    int32 INVALID_LINK_NAME=-32
    int32 IK_LINK_IN_COLLISION=-33
    int32 NO_FK_SOLUTION=-34
    int32 KINEMATICS_STATE_IN_COLLISION=-35
    int32 INVALID_TIMEOUT=-36
    int32 val