Add fields in GetCartesianPath srv to scale velocity and acceleration#154
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sjahr merged 3 commits intomoveit:ros2from Mar 23, 2023
Merged
Add fields in GetCartesianPath srv to scale velocity and acceleration#154sjahr merged 3 commits intomoveit:ros2from
sjahr merged 3 commits intomoveit:ros2from
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Signed-off-by: Yadunund <yadunund@gmail.com>
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henningkayser
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Mar 10, 2023
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henningkayser
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Useful addition, thank you! Long-term we should decide if it makes sense to further streamline how trajectory profiles are being configured and better consolidate these message types.
sjahr
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Mar 22, 2023
Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
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Partly fixes moveit/moveit2#1967
This PR adds
max_velocity_scaling_factorandmax_acceleration_scaling_factorfields to theGetCartesianPathsrv request so that downstream interfaces can appropriately scale cartesian trajectories derived from cartesian interpolations.