planning_environment_msgs/SetConstraints Service

File: planning_environment_msgs/SetConstraints.srv

# THIS SERVICE IS CURRENTLY USED FOR TESTING/DEBUGGING.
# PLEASE DO NOT USE THIS SERVICE EXTERNALLY.
# CONSTRAINTS CAN BE DIRECTLY SET BY THE SERVICES PROVIDED
# BY THE ENVIRONMENT SERVER.
# This service call updates the environment server
# with the set of constraints that need to be checked 
motion_planning_msgs/Constraints path_constraints
motion_planning_msgs/Constraints goal_constraints

---

# The update returns the constraints transformed to the frame in which 
# the planning monitor functions
motion_planning_msgs/Constraints path_constraints
motion_planning_msgs/Constraints goal_constraints
# True if the update was successful, false otherwise
motion_planning_msgs/ArmNavigationErrorCodes error_code

Expanded Definition

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/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/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/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