MoveCircle.srv

Features

The robot moves along an arc to the target pos (pos2) via a waypoint (pos1) or to a specified angle from the current position in the task space.

Parameters

Parameter Name	Data Type	Default Value	Default Value
pos	std_msgs/Float64MultiArray[]	-	target[2][6] position list
vel	float64[2]	-	linear velocity, angular velocity
acc	float64[2]	-	linear acceleration, angular acceleration
time	float64	0.0	Reach time [sec]
radius	float64	0.0	Radius for blending
ref	int8	0	reference coordinate MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2
mode	int8	0	Movement basis MOVE_MODE_ABSOLUTE =0 MOVE_MODE_RELATIVE =1
angle1	float64	0.0	angle1
angle2	float64	0.0	angle2
blendType	int8	0	Reactive motion mode BLENDING_SPEED_TYPE_DUPLICATE =0 BLENDING_SPEED_TYPE_OVERRIDE =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 L, pos[0] and pos[1] are defined in the relative coordinate system of the previous pos. (pos[0] is the relative coordinate from the starting point while pos[1] is the relative coordinate from pos[0].)
If only one angle is inputted, the total rotated angle on the circular path is applied to the angle.
If two angle values are inputted, angle1 refers to the total rotating angle moving at a constant velocity on the circular path while angle2 refers to the rotating angle in the rotating section for acceleration and deceleration. In that case, the total moving angle angle1 + 2 X angle2 moves along the circular path.

Caution

If the following motion is blended with the conditions of blendType=

BLENDING_SPEED_TYPE_DUPLICATE and radius>0, the preceding motion can be terminated when the following motion is terminated while the remaining motion time determined by the remaining distance, velocity, and acceleration of the preceding motion is greater than the motion time of the following motion. Refer to the following image for more information.

Return

Parameter Name	Data Type	Default Value	Default Value
success	bool	-	True or False