Raw Message Definition
# The SwitchController service allows you stop a number of controllers
# and start a number of controllers, all in one single timestep of the
# controller_manager control loop.
# To switch controllers, specify
# * the list of controller names to start,
# * the list of controller names to stop, and
# * the strictness (BEST_EFFORT or STRICT)
# * STRICT means that switching will fail if anything goes wrong (an invalid
# controller name, a controller that failed to start, etc. )
# * BEST_EFFORT means that even when something goes wrong with on controller,
# the service will still try to start/stop the remaining controllers
# The return value "ok" indicates if the controllers were switched
# successfully or not. The meaning of success depends on the
# specified strictness.
Compact Message Definition