Data definition and interface methods for the trajectory handling.
External interface:
-
service "start_motion" of type industrial_msgs::StartMotion
Send to the robot the start motion command -
service "stop_motion" of type industrial_msgs::StopMotion
Send to the robot the stop motion command, the motion can be resumed -
service "cancel_motion" of type industrial_msgs::StopMotion
Send to the robot the cancel motion command, the motion cannot be resumed and the trajectory on the controller is deleted -
service "joint_path_command" of type comau_msgs::CmdJointTrjComau
Load a new trajectory and send it to the robot controller