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 |
-
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.
-
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 |