MoveGroup

This is a ROS action definition.

Source

# Motion planning request to pass to planner
MotionPlanRequest request

# Planning options
PlanningOptions planning_options

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# An error code reflecting what went wrong
MoveItErrorCodes error_code

# The full starting state of the robot at the start of the trajectory
moveit_msgs/RobotState trajectory_start

# The trajectory that moved group produced for execution
moveit_msgs/RobotTrajectory planned_trajectory

# The trace of the trajectory recorded during execution
moveit_msgs/RobotTrajectory executed_trajectory

# The amount of time it took to complete the motion plan
float64 planning_time

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# The internal state that the move group action currently is in
string state