From 4cfaf7ff6067ce8de999679692902bb39935a7ea Mon Sep 17 00:00:00 2001 From: Yadunund Date: Thu, 23 Feb 2023 11:17:14 +0800 Subject: [PATCH 1/3] Add fields to scale velocity and acceleration Signed-off-by: Yadunund --- srv/GetCartesianPath.srv | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/srv/GetCartesianPath.srv b/srv/GetCartesianPath.srv index 29a4c8f..e28d9b1 100644 --- 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 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 +# 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 From a75060596e5efb34cb3e0d3ad37fb73a4e6488af Mon Sep 17 00:00:00 2001 From: Yadu Date: Thu, 23 Mar 2023 09:49:32 +0800 Subject: [PATCH 2/3] Update srv/GetCartesianPath.srv Co-authored-by: Sebastian Jahr --- srv/GetCartesianPath.srv | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/srv/GetCartesianPath.srv b/srv/GetCartesianPath.srv index e28d9b1..fc2dffb 100644 --- a/srv/GetCartesianPath.srv +++ b/srv/GetCartesianPath.srv @@ -44,10 +44,10 @@ bool avoid_collisions 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 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 From bbc01fcbc08255fecd983d9e7500a599a6cf83e4 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Thu, 23 Mar 2023 09:52:46 +0800 Subject: [PATCH 3/3] Update documentation in MotionPlanRequest Signed-off-by: Yadunund --- msg/MotionPlanRequest.msg | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg index 7ac28ea..de904de 100644 --- 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