Function moveit_ros::trajectory_cache::constructGetCartesianPathRequest

Function Documentation

moveit_msgs::srv::GetCartesianPath::Request moveit_ros::trajectory_cache::constructGetCartesianPathRequest(moveit::planning_interface::MoveGroupInterface &move_group, const std::vector<geometry_msgs::msg::Pose> &waypoints, double max_step, double jump_threshold, bool avoid_collisions = true)

Constructs a GetCartesianPath request.

This is a convenience function. This mimics the move group computeCartesianPath signature (without path constraints).

WARNING: The following fields are not supported, if you want to specify them, add them in yourself.

  • prismatic_jump_threshold

  • revolute_jump_threshold

  • cartesian_speed_limited_link

  • max_cartesian_speed

Parameters:

  • move_group. – [in] The manipulator move group, used to get its state, frames, and link.

  • waypoints. – [in] The cartesian waypoints to request the path for.

  • max_step. – [in] The value to populate into the GetCartesianPath request’s max_step field.

  • jump_threshold. – [in] The value to populate into the GetCartesianPath request’s jump_threshold field.

  • avoid_collisions. – [in] The value to populate into the GetCartesianPath request’s avoid_collisions field.

Returns: