Raw Message Definition
# Define the frame for the specified waypoints
# The start at which to start the Cartesian path
# Mandatory name of group to compute the path for
# Optional name of IK link for which waypoints are specified.
# If not specified, the tip of the group (which is assumed to be a chain)
# is assumed to be the link
# A sequence of waypoints to be followed by the specified link,
# while moving the specified group, such that the group moves only
# in a straight line between waypoints
# The maximum distance (in Cartesian space) between consecutive points
# in the returned path. This must always be specified and > 0
# If jump_threshold is set > 0, it acts as a scaling factor that is used to
# filter out large relative joint-space jumps in the generated Cartesian path.
# To this end, the average joint-space distance between consecutive waypoints
# is computed. If any joint-space distance is larger than this average distance
# by a factor of jump_threshold_factor, this step is considered a jump
# and the returned path is truncated before the step.
# If prismatic_jump_threshold or revolute_jump_threshold are set > 0, then for
# all active prismatic or revolute joints, the joint-space difference between
# consecutive waypoints is compared to the respective absolute threshold.
# If any threshold is exceeded, this step is considered a jump and the returned path
# is truncated before the step.
# Set to true if collisions should be avoided when possible
# Specify additional constraints to be met by the Cartesian path
# Maximum cartesian speed for the given link.
# If max_cartesian_speed <= 0 the trajectory is not modified.
float64 max_cartesian_speed # m/s
# The state at which the computed path starts
# The computed solution trajectory, for the desired group, in configuration space
# If the computation was incomplete, this value indicates the fraction of the path
# that was in fact computed (number of waypoints traveled through)
# The error code of the computation
Compact Message Definition