GetCartesianPath.srv

# Define the frame for the specified waypoints
Header header

# The start at which to start the Cartesian path
RobotState start_state

# Mandatory name of group to compute the path for
string group_name

# Optional name of IK link for which waypoints are specified.
# If not specified, the tip of the group (which is assumed to be a chain)
# is assumed to be the link
string link_name

# A sequence of waypoints to be followed by the specified link,
# while moving the specified group, such that the group moves only
# in a straight line between waypoints
geometry_msgs/Pose[] waypoints

# The maximum distance (in Cartesian space) between consecutive points
# in the returned path. This must always be specified and > 0
float64 max_step

# If jump_threshold is set > 0, it acts as a scaling factor that is used to
# filter out large relative joint-space jumps in the generated Cartesian path.
# To this end, the average joint-space distance between consecutive waypoints
# is computed. If any joint-space distance is larger than this average distance
# by a factor of jump_threshold_factor, this step is considered a jump
# and the returned path is truncated before the step.
float64 jump_threshold

# If prismatic_jump_threshold or revolute_jump_threshold are set > 0, then for
# all active prismatic or revolute joints, the joint-space difference between
# consecutive waypoints is compared to the respective absolute threshold.
# If any threshold is exceeded, this step is considered a jump and the returned path
# is truncated before the step.
float64 prismatic_jump_threshold
float64 revolute_jump_threshold

# Set to true if collisions should be avoided when possible
bool avoid_collisions

# Specify additional constraints to be met by the Cartesian path
Constraints path_constraints

# Maximum cartesian speed for the given link.
# If max_cartesian_speed <= 0 the trajectory is not modified.
string cartesian_speed_limited_link
float64 max_cartesian_speed # m/s

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# The state at which the computed path starts
RobotState start_state

# The computed solution trajectory, for the desired group, in configuration space
RobotTrajectory solution

# If the computation was incomplete, this value indicates the fraction of the path
# that was in fact computed (number of waypoints traveled through)
float64 fraction

# The error code of the computation
MoveItErrorCodes error_code