Change jogging drift dimensions (moveit#63)

* Add service file to control moveit_jog_arm free dimensions * A better-sounding description * Change service name to ChangeDriftDimensions * Reword control_x_translation -> drift_x_translation * Add a transform to the service * Update srv/ChangeDriftDimensions.srv comment Co-Authored-By: Dave Coleman <dave@picknik.ai> Co-authored-by: Dave Coleman <dave@picknik.ai>
tylerjw · May 4, 2020 · 984e689 · 984e689
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -77,6 +77,7 @@ CheckIfRobotStateExistsInWarehouse.srv
 RenameRobotStateInWarehouse.srv
 DeleteRobotStateFromWarehouse.srv
 ChangeControlDimensions.srv
+ChangeDriftDimensions.srv
 )
 
 set(ACT_FILES

diff --git a/srv/ChangeDriftDimensions.srv b/srv/ChangeDriftDimensions.srv
@@ -0,0 +1,17 @@
+# For use with moveit_jog_arm Cartesian planner
+#
+# Allow the robot to drift along these dimensions in a smooth but unregulated way.
+# Give 'true' to enable drift in the direction, 'false' to disable.
+# For example, may allow wrist rotation by drift_x_rotation == true.
+bool drift_x_translation
+bool drift_y_translation
+bool drift_z_translation
+bool drift_x_rotation
+bool drift_y_rotation
+bool drift_z_rotation
+
+# Not implemented as of Jan 2020 (for now assumed to be the identity matrix). In the future it will allow us to transform
+# from the jog control frame to a unique drift frame, so the robot can drift along off-principal axes
+geometry_msgs/Transform transform_jog_frame_to_drift_frame
+---
+bool success