From 0653002d8d592791ac2ba48650e8816ea8e6e047 Mon Sep 17 00:00:00 2001 From: Sebastian Castro Date: Tue, 14 Feb 2023 08:58:07 -0500 Subject: [PATCH] Add PathConstraint message --- CMakeLists.txt | 1 + msg/Constraints.msg | 2 ++ msg/PathConstraint.msg | 15 +++++++++++++++ 3 files changed, 18 insertions(+) create mode 100644 msg/PathConstraint.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index bbe74e6..9fac82b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,6 +59,7 @@ set(msg_files "msg/ObjectColor.msg" "msg/OrientationConstraint.msg" "msg/OrientedBoundingBox.msg" + "msg/PathConstraint.msg" "msg/PlaceLocation.msg" "msg/PlannerInterfaceDescription.msg" "msg/PlannerParams.msg" diff --git a/msg/Constraints.msg b/msg/Constraints.msg index d50b7e1..6606479 100644 --- a/msg/Constraints.msg +++ b/msg/Constraints.msg @@ -9,4 +9,6 @@ PositionConstraint[] position_constraints OrientationConstraint[] orientation_constraints +PathConstraint[] path_constraints + VisibilityConstraint[] visibility_constraints diff --git a/msg/PathConstraint.msg b/msg/PathConstraint.msg new file mode 100644 index 0000000..03b7eaf --- /dev/null +++ b/msg/PathConstraint.msg @@ -0,0 +1,15 @@ +# This message contains the definition of a path constraint. + +std_msgs/Header header + +# The robot link this constraint refers to +string link_name + +# The poses defining the path +geometry_msgs/Pose[] path + +# The interpolation distance, in meters +float64 interp_distance + +# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important) +float64 weight