Add fields in GetCartesianPath srv to scale velocity and acceleration (…

…#154) * Add fields to scale velocity and acceleration Signed-off-by: Yadunund <yadunund@gmail.com> * Update srv/GetCartesianPath.srv Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> * Update documentation in MotionPlanRequest Signed-off-by: Yadunund <yadunund@openrobotics.org> --------- Signed-off-by: Yadunund <yadunund@gmail.com> Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>
moveit · Mar 23, 2023 · e97a788 · e97a788
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commit e97a788
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diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg
@@ -43,10 +43,10 @@ int32 num_planning_attempts
 float64 allowed_planning_time
 
 # Scaling factors for optionally reducing the maximum joint velocities and
-# accelerations.  Allowed values are in (0,1].  The maximum joint velocity and
-# acceleration specified in the robot model are multiplied by thier respective
-# factors.  If either are outside their valid ranges (importantly, this
-# includes being set to 0.0), the factor is set to the default value of 1.0
+# accelerations.  Allowed values are in (0,1]. The maximum joint velocity and
+# acceleration specified in the robot model are multiplied by their respective
+# factors. If a factor is outside its valid range (importantly, this
+# includes being set to 0.0), this factor is set to the default value of 1.0
 # internally (i.e., maximum joint velocity or maximum joint acceleration).
 float64 max_velocity_scaling_factor
 float64 max_acceleration_scaling_factor

diff --git a/srv/GetCartesianPath.srv b/srv/GetCartesianPath.srv
@@ -43,6 +43,15 @@ bool avoid_collisions
 # Specify additional constraints to be met by the Cartesian path
 Constraints path_constraints
 
+# Scaling factors for optionally reducing the maximum joint velocities and
+# accelerations.  Allowed values are in (0,1]. The maximum joint velocity and
+# acceleration specified in the robot model are multiplied by their respective
+# factors. If a factor is outside its valid range (importantly, this
+# includes being set to 0.0), this factor is set to the default value of 1.0
+# internally (i.e., maximum joint velocity or maximum joint acceleration).
+float64 max_velocity_scaling_factor
+float64 max_acceleration_scaling_factor
+
 ---
 
 # The state at which the computed path starts