Raw Message Definition
# Define the frame for the specified waypoints
# The start at which to start the Cartesian path
# Mandatory name of group to compute the path for
# Optional name of IK link for which waypoints are specified.
# If not specified, the tip of the group (which is assumed to be a chain)
# is assumed to be the link
# A sequence of waypoints to be followed by the specified link,
# while moving the specified group, such that the group moves only
# in a straight line between waypoints
# The maximum distance (in Cartesian space) between consecutive points
# in the returned path. This must always be specified and > 0
# If above 0, this value is assumed to be the maximum allowed distance
# (L infinity) in configuration space, between consecutive points.
# If this distance is found to be above the maximum threshold, the path
# computation fails.
# Set to true if collisions should be avoided when possible
# Specify additional constraints to be met by the Cartesian path
# The state at which the computed path starts
# The computed solution trajectory, for the desired group, in configuration space
# If the computation was incomplete, this value indicates the fraction of the path
# that was in fact computed (nr of waypoints traveled through)
# The error code of the computation
Compact Message Definition