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Rename Cartesian end effector field to Cartesian link #130

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Sep 9, 2022
Merged

Rename Cartesian end effector field to Cartesian link #130

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6 changes: 3 additions & 3 deletions msg/MotionPlanRequest.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,8 @@ float64 allowed_planning_time
float64 max_velocity_scaling_factor
float64 max_acceleration_scaling_factor

# Maximum cartesian speed for the given end effector.
# Maximum cartesian speed for the given link.
# If max_cartesian_speed <= 0 the trajectory is not modified.
# These fields require the following planning request adapter: default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed
string cartesian_speed_end_effector_link
# These fields require the following planning request adapter: default_planner_request_adapters/LimitMaxCartesianLinkSpeed
string cartesian_speed_limited_link
float64 max_cartesian_speed # m/s
6 changes: 2 additions & 4 deletions srv/GetCartesianPath.srv
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Expand Up @@ -43,11 +43,9 @@ bool avoid_collisions
# Specify additional constraints to be met by the Cartesian path
Constraints path_constraints

# Maximum cartesian speed for the given end effector.
# Maximum cartesian speed for the given link.
# If max_cartesian_speed <= 0 the trajectory is not modified.
# WARNING NOT FUNCTIONAL YET.
# REQUIRES https://github.com/ros-planning/moveit/pull/2674
string cartesian_speed_end_effector_link
string cartesian_speed_limited_link
float64 max_cartesian_speed # m/s

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