planning_environment_msgs/SetAllowedCollisions Service

File: planning_environment_msgs/SetAllowedCollisions.srv

#FOR TESTING/DEBUGGING ONLY - best practice is to use AllowedCollisionOperations!
#sets the allowed collision map using the given operations, used until revert service is called
motion_planning_msgs/OrderedCollisionOperations ord
---
# the resulting collision matrix
AllowedCollisionMatrix matrix

Expanded Definition

motion_planning_msgs/OrderedCollisionOperations ord
    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

AllowedCollisionMatrix matrix
    string[] link_names
    planning_environment_msgs/AllowedCollisionEntry[] entries
        bool[] enabled