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Add PipelineState message #170

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Nov 6, 2023
Merged

Add PipelineState message #170

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1 change: 1 addition & 0 deletions CMakeLists.txt
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Expand Up @@ -73,6 +73,7 @@ set(msg_files
"msg/WorkspaceParameters.msg"
"msg/KinematicSolverInfo.msg"
"msg/PositionIKRequest.msg"
"msg/PipelineState.msg"
"msg/ServoStatus.msg"
)

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2 changes: 1 addition & 1 deletion msg/MotionPlanRequest.msg
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Expand Up @@ -53,6 +53,6 @@ float64 max_acceleration_scaling_factor

# 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/LimitMaxCartesianLinkSpeed
# These fields require the following planning request adapter: default_planning_request_adapters/LimitMaxCartesianLinkSpeed
string cartesian_speed_limited_link
float64 max_cartesian_speed # m/s
8 changes: 8 additions & 0 deletions msg/PipelineState.msg
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@@ -0,0 +1,8 @@
# Motion plan response that is processed
MotionPlanRequest request

# Current solution
MotionPlanResponse response

# Latest stage of the planning pipeline that got invoked
string pipeline_stage