GeneratePolynomialTrajectory

This is a ROS action definition.

Source

# Trajectory_generator action definition

# Request
builtin_interfaces/Time stamp      # Request timestamp
as2_msgs/YawMode yaw               # Yaw goal mode
as2_msgs/PoseStampedWithID[] path  # List of poses with ID in path, with each frame id and time stamp
float32 max_speed                  # Maximum speed desired in path (m/s)
bool start_on_paused               # If true, the trajectory generation will be generated and the behavior will be set in paused state
bool follow_reference_mode         # If true, single-waypoint follow-reference: Keep tracking the waypoint, although the trajectory is finished

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# Result
bool trajectory_generator_success  # False if failed to follow the generated trajectory

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# Feedback
string next_waypoint_id            # Next waypoint id in path to follow
uint16 remaining_waypoints         # Number of remaining waypoints to follow