# This service contains the definition for a request to the motion # planner and the output it provides
MotionPlanRequest motion_plan_request
---
# A solution trajectory, if found motion_planning_msgs/RobotTrajectory trajectory
# The corresponding robot state motion_planning_msgs/RobotState robot_state
# Planning time duration planning_time
# Error code - encodes the overall reason for failure motion_planning_msgs/ArmNavigationErrorCodes error_code
# More detailed error codes (optional) - encode information about each point in the returned trajectory motion_planning_msgs/ArmNavigationErrorCodes[] trajectory_error_codes
Expanded Definition
MotionPlanRequest motion_plan_request motion_planning_msgs/WorkspaceParameters workspace_parameters geometric_shapes_msgs/Shape workspace_region_shape byte SPHERE=0 byte BOX=1 byte CYLINDER=2 byte MESH=3 byte type float64[] dimensions int32[] triangles geometry_msgs/Point[] vertices float64 x float64 y float64 z geometry_msgs/PoseStamped workspace_region_pose Header header uint32 seq time stamp string frame_id geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w motion_planning_msgs/RobotState start_state sensor_msgs/JointState joint_state Header header uint32 seq time stamp string frame_id string[] name float64[] position float64[] velocity float64[] effort motion_planning_msgs/MultiDOFJointState multi_dof_joint_state time stamp string[] joint_names string[] frame_ids string[] child_frame_ids geometry_msgs/Pose[] poses geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w motion_planning_msgs/Constraints goal_constraints motion_planning_msgs/JointConstraint[] joint_constraints string joint_name float64 position float64 tolerance_above float64 tolerance_below float64 weight motion_planning_msgs/PositionConstraint[] position_constraints Header header uint32 seq time stamp string frame_id string link_name geometry_msgs/Point target_point_offset float64 x float64 y float64 z geometry_msgs/Point position float64 x float64 y float64 z geometric_shapes_msgs/Shape constraint_region_shape byte SPHERE=0 byte BOX=1 byte CYLINDER=2 byte MESH=3 byte type float64[] dimensions int32[] triangles geometry_msgs/Point[] vertices float64 x float64 y float64 z geometry_msgs/Quaternion constraint_region_orientation float64 x float64 y float64 z float64 w float64 weight motion_planning_msgs/OrientationConstraint[] orientation_constraints int32 LINK_FRAME=0 int32 HEADER_FRAME=1 Header header uint32 seq time stamp string frame_id string link_name int32 type geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64 absolute_roll_tolerance float64 absolute_pitch_tolerance float64 absolute_yaw_tolerance float64 weight motion_planning_msgs/VisibilityConstraint[] visibility_constraints Header header uint32 seq time stamp string frame_id geometry_msgs/PointStamped target Header header uint32 seq time stamp string frame_id geometry_msgs/Point point float64 x float64 y float64 z geometry_msgs/PoseStamped sensor_pose Header header uint32 seq time stamp string frame_id geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64 absolute_tolerance motion_planning_msgs/Constraints path_constraints motion_planning_msgs/JointConstraint[] joint_constraints string joint_name float64 position float64 tolerance_above float64 tolerance_below float64 weight motion_planning_msgs/PositionConstraint[] position_constraints Header header uint32 seq time stamp string frame_id string link_name geometry_msgs/Point target_point_offset float64 x float64 y float64 z geometry_msgs/Point position float64 x float64 y float64 z geometric_shapes_msgs/Shape constraint_region_shape byte SPHERE=0 byte BOX=1 byte CYLINDER=2 byte MESH=3 byte type float64[] dimensions int32[] triangles geometry_msgs/Point[] vertices float64 x float64 y float64 z geometry_msgs/Quaternion constraint_region_orientation float64 x float64 y float64 z float64 w float64 weight motion_planning_msgs/OrientationConstraint[] orientation_constraints int32 LINK_FRAME=0 int32 HEADER_FRAME=1 Header header uint32 seq time stamp string frame_id string link_name int32 type geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64 absolute_roll_tolerance float64 absolute_pitch_tolerance float64 absolute_yaw_tolerance float64 weight motion_planning_msgs/VisibilityConstraint[] visibility_constraints Header header uint32 seq time stamp string frame_id geometry_msgs/PointStamped target Header header uint32 seq time stamp string frame_id geometry_msgs/Point point float64 x float64 y float64 z geometry_msgs/PoseStamped sensor_pose Header header uint32 seq time stamp string frame_id geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64 absolute_tolerance motion_planning_msgs/AllowedContactSpecification[] allowed_contacts string name geometric_shapes_msgs/Shape shape byte SPHERE=0 byte BOX=1 byte CYLINDER=2 byte MESH=3 byte type float64[] dimensions int32[] triangles geometry_msgs/Point[] vertices float64 x float64 y float64 z geometry_msgs/PoseStamped pose_stamped Header header uint32 seq time stamp string frame_id geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w string[] link_names float64 penetration_depth motion_planning_msgs/OrderedCollisionOperations ordered_collision_operations motion_planning_msgs/CollisionOperation[] collision_operations string COLLISION_SET_ALL="all" string COLLISION_SET_OBJECTS="objects" string COLLISION_SET_ATTACHED_OBJECTS="attached" int32 DISABLE=0 int32 ENABLE=1 string object1 string object2 float64 penetration_distance int32 operation motion_planning_msgs/LinkPadding[] link_padding string link_name float64 padding string planner_id string group_name int32 num_planning_attempts duration allowed_planning_time duration expected_path_duration duration expected_path_dt motion_planning_msgs/RobotTrajectory trajectory trajectory_msgs/JointTrajectory joint_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/MultiDOFJointTrajectory multi_dof_joint_trajectory duration stamp string[] joint_names string[] frame_ids string[] child_frame_ids motion_planning_msgs/MultiDOFJointTrajectoryPoint[] points geometry_msgs/Pose[] poses geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w duration time_from_start motion_planning_msgs/RobotState robot_state sensor_msgs/JointState joint_state Header header uint32 seq time stamp string frame_id string[] name float64[] position float64[] velocity float64[] effort motion_planning_msgs/MultiDOFJointState multi_dof_joint_state time stamp string[] joint_names string[] frame_ids string[] child_frame_ids geometry_msgs/Pose[] poses geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w duration planning_time motion_planning_msgs/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 motion_planning_msgs/ArmNavigationErrorCodes[] trajectory_error_codes 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