ComputeAutonomyVector

This is a ROS service definition.

Source

geometry_msgs/PoseStamped query_pose
float32[] joint_angles
float32[] prev_joint_velocities # Optional: Previous joint velocities for dynamic considerations
float32 delta_time # Time step for dynamic calculations

# Planning method definitions
string PLANNING_METHOD_TASK_SPACE="task_space"
string PLANNING_METHOD_WHOLE_BODY="whole_body"

string planning_method
---
geometry_msgs/TwistStamped autonomy_vector