motion_planning_msgs/MotionPlanRequest Message

File: motion_planning_msgs/MotionPlanRequest.msg

# This service contains the definition for a request to the motion
# planner and the output it provides

# Parameters for the workspace that the planner should work inside
motion_planning_msgs/WorkspaceParameters workspace_parameters

# Starting state updates. If certain joints should be considered
# at positions other than the current ones, these positions should
# be set here
motion_planning_msgs/RobotState start_state

# The goal state for the model to plan for. The goal is achieved
# if all constraints are satisfied
motion_planning_msgs/Constraints goal_constraints

# No state at any point along the path in the produced motion plan will violate these constraints
motion_planning_msgs/Constraints path_constraints

# A specification for regions where contact is 
# allowed up to a certain depth
# Any collision within this set of regions with a link 
# specified in the message will be allowed if
# it is less than the penetration depth specified in the message
AllowedContactSpecification[] allowed_contacts

# A set of ordered collision operations, 
# these are applied to all links, objects, 
# namespaces in the collision space
OrderedCollisionOperations ordered_collision_operations

# Specifies a set of links and paddings to change from the default
# specified in the yaml file
motion_planning_msgs/LinkPadding[] link_padding

# The name of the motion planner to use. If no name is specified,
# a default motion planner will be used
string planner_id

# The name of the group of joints on which this planner is operating
string group_name

# The number of times this plan is to be computed. Shortest solution
# will be reported.
int32 num_planning_attempts

# The maximum amount of time the motion planner is allowed to plan for
duration allowed_planning_time

# An expected path duration (in seconds) along with an expected discretization of the path allows the planner to determine the discretization of the trajectory that it returns
duration expected_path_duration
duration expected_path_dt

Expanded Definition

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
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
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

autogenerated on Fri, 11 Jan 2013 10:13:49