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Add fields in GetCartesianPath srv to scale velocity and acceleration #154

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merged 3 commits into from
Mar 23, 2023
Merged

Add fields in GetCartesianPath srv to scale velocity and acceleration #154

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4cfaf7f
Add fields to scale velocity and acceleration
Yadunund Feb 23, 2023
a750605
Update srv/GetCartesianPath.srv
Yadunund Mar 23, 2023
bbc01fc
Update documentation in MotionPlanRequest
Yadunund Mar 23, 2023
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8 changes: 4 additions & 4 deletions msg/MotionPlanRequest.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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9 changes: 9 additions & 0 deletions srv/GetCartesianPath.srv
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Expand Up @@ -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
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