mapping_msgs/AttachedCollisionObject Documentation

File: mapping_msgs/AttachedCollisionObject.msg

# The CollisionObject will be attached with a fixed joint to this link
# If link name is set to REMOVE_ALL_ATTACHED_OBJECTS and object.operation
# is set to REMOVE will remove all attached bodies attached to any object
string link_name

#Reserved for indicating that all attached objects should be removed
string REMOVE_ALL_ATTACHED_OBJECTS = "all"

#This contains the actual shapes and poses for the CollisionObject
#to be attached to the link
#If action is remove and no object.id is set, all objects
#attached to the link indicated by link_name will be removed
CollisionObject object

# The set of links that the attached objects are allowed to touch
# by default - the link_name is included by default
string[] touch_links

Expanded Definition

string REMOVE_ALL_ATTACHED_OBJECTS="all"
string link_name
CollisionObject object
    Header header
        uint32 seq
        time stamp
        string frame_id
    string id
    mapping_msgs/CollisionObjectOperation operation
        byte ADD=0
        byte REMOVE=1
        byte DETACH_AND_ADD_AS_OBJECT=2
        byte ATTACH_AND_REMOVE_AS_OBJECT=3
        byte operation
    geometric_shapes_msgs/Shape[] shapes
        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/Pose[] poses
        geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
        geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
string[] touch_links

mapping_msgs/AttachedCollisionObject Message

File: mapping_msgs/AttachedCollisionObject.msg

Expanded Definition