Features
The robot moves along a spline curve path that connects the current position to the target position (the last waypoint in position list) via the waypoints of the joint space input in position list.
The input velocity/acceleration means the maximum velocity/acceleration in the path, and the acceleration and deceleration during the motion are determined according to the position of the waypoint.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
std_msgs/Float64MultiArray[] |
- |
target pos [100][6] max = 100 |
|
posCnt |
int8 |
- |
Count of target pos |
|
vel |
float64 |
- |
velocity |
|
acc |
float64 |
- |
acceleration |
|
time |
float64 |
0.0 |
Reach time [sec] |
|
mode |
int8 |
0 |
Movement basis
|
|
syncType |
int8 |
0 |
SYNC = 0 ASYNC = 1 |
-
If the time is specified, values are processed based on time, ignoring vel and acc.
-
If the mod is MOVE_MODE_RELATIVE, each pos in the pos_list is defined in the relative coordinate of the previous pos. (If pos_list=[q1, q2, ...,q(n-1), q(n)], q1 is the relative angle of the starting point while q(n) is the relative coordinate of q(n-1).)
-
This service does not support online blending of previous and subsequent motions.
Return
|
Return Name |
Data Type |
Default Value |
Default Value |
|---|---|---|---|
|
success |
bool |
- |
True or False |