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[WIP] Add pick&place MoveGroup capability #111

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[WIP] Add pick&place MoveGroup capability #111

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95e7256
Add action message template
henningkayser Nov 20, 2019
bf78d46
Add PickPlaceTask to core package
henningkayser Nov 20, 2019
916d26d
Create empty plan_pick_place_capability
henningkayser Nov 20, 2019
7f3bdaa
Add parameter struct
henningkayser Nov 20, 2019
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Add action message template
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@henningkayser
henningkayser committed Nov 20, 2019
commit 95e7256c4576d1e7192e1e3c3a0cd49bc6fd2de7
1 change: 1 addition & 0 deletions msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -27,6 +27,7 @@ add_service_files(DIRECTORY srv FILES

add_action_files(DIRECTORY action FILES
ExecuteTaskSolution.action
PlanPickPlace.action
)

generate_messages(DEPENDENCIES ${MSG_DEPS})
16 changes: 16 additions & 0 deletions msgs/action/PlanPickPlace.action
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
# goal
string object_id
string end_effector

moveit_msgs/PlaceLocation place_location

---

# result
moveit_msgs/MoveItErrorCodes error_code
Solution solution

---

# feedback
string feedback