MoveBlending.srv
Features
This function takes a list that has one or more path segments (line or circle) as arguments and moves at a constant velocity by blending each segment into the specified radius. Here, the radius can be set through posb.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
pos | std_msgs/Float64MultiArray[] | - | posb list (pos1[6]:pos2[6]:type[1]:radius[1]) x 50(max) |
posCnt | int8 |
| Count of target pos |
vel | float64[2] | - | linear velocity, angular velocity |
acc | float64[2] | - | linear acceleration, angular acceleration |
time | float64 | 0.0 | Reach time [sec] |
ref | int8 | 0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 |
mode | int8 | 0 |
MOVE_MODE_ABSOLUTE =0 MOVE_MODE_RELATIVE =1 |
syncType | int8 | 0 | SYNC = 0 ASYNC = 1 |
Note
- If an argument is inputted to vel (e.g., vel=[30, 0]), the input argument corresponds to the linear velocity of the motion while the angular velocity is determined proportionally to the linear velocity.
- If an argument is inputted to acc (e.g., acc=[60, 0]), the input argument corresponds to the linear acceleration of the motion while the angular acceleration is determined proportionally to the linear acceleration.
- If the time is specified, values are processed based on time, ignoring vel and acc.
- The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
- If the mod is MOVE_MODE_RELATIVE, each pos in the posb_list is defined in the relative coordinate of the previous pos.
Caution
- A user input error is generated if the blending radius in posb is 0.
- A user input error is generated due to the duplicated input of Line if contiguous Line-Line segments have the same direction.
- A user input error is generated to prevent a sudden acceleration if the blending condition causes a rapid change in direction.
- This service does not support online blending of previous and subsequent motions
Return
| Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |