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ibaiapeibaiape
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Migration to ROS 2
1 parent 53496e7 commit 8bbe990

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+131
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lines changed

‎CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -1,94 +1,113 @@
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.5)
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project(moveit_msgs)
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4-
set(MSG_DEPS
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std_msgs
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actionlib_msgs
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sensor_msgs
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geometry_msgs
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trajectory_msgs
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shape_msgs
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object_recognition_msgs
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octomap_msgs)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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14-
find_package(catkin REQUIRED genmsg ${MSG_DEPS})
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(shape_msgs REQUIRED)
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find_package(object_recognition_msgs REQUIRED)
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find_package(octomap_msgs REQUIRED)
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find_package(trajectory_msgs REQUIRED)
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set(MSG_FILES
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AllowedCollisionEntry.msg
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AllowedCollisionMatrix.msg
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AttachedCollisionObject.msg
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BoundingVolume.msg
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CollisionObject.msg
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ConstraintEvalResult.msg
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Constraints.msg
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CostSource.msg
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ContactInformation.msg
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DisplayTrajectory.msg
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DisplayRobotState.msg
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Grasp.msg
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GripperTranslation.msg
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JointConstraint.msg
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JointLimits.msg
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LinkPadding.msg
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LinkScale.msg
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MotionPlanRequest.msg
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MotionPlanResponse.msg
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MotionPlanDetailedResponse.msg
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MoveItErrorCodes.msg
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TrajectoryConstraints.msg
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ObjectColor.msg
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OrientationConstraint.msg
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OrientedBoundingBox.msg
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PlaceLocation.msg
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PlannerInterfaceDescription.msg
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PlannerParams.msg
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PlanningScene.msg
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PlanningSceneComponents.msg
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PlanningSceneWorld.msg
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PlanningOptions.msg
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PositionConstraint.msg
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RobotState.msg
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RobotTrajectory.msg
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VisibilityConstraint.msg
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WorkspaceParameters.msg
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KinematicSolverInfo.msg
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PositionIKRequest.msg
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)
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set(SRV_FILES
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GetMotionPlan.srv
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ExecuteKnownTrajectory.srv
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GetStateValidity.srv
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GetCartesianPath.srv
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GetPlanningScene.srv
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GraspPlanning.srv
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ApplyPlanningScene.srv
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QueryPlannerInterfaces.srv
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GetPositionFK.srv
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GetPositionIK.srv
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GetPlannerParams.srv
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SetPlannerParams.srv
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SaveMap.srv
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LoadMap.srv
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SaveRobotStateToWarehouse.srv
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ListRobotStatesInWarehouse.srv
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GetRobotStateFromWarehouse.srv
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CheckIfRobotStateExistsInWarehouse.srv
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RenameRobotStateInWarehouse.srv
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DeleteRobotStateFromWarehouse.srv
26+
set(msg_files
27+
"msg/AllowedCollisionEntry.msg"
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"msg/AllowedCollisionMatrix.msg"
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"msg/AttachedCollisionObject.msg"
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"msg/BoundingVolume.msg"
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"msg/CollisionObject.msg"
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"msg/ConstraintEvalResult.msg"
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"msg/Constraints.msg"
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"msg/CostSource.msg"
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"msg/ContactInformation.msg"
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"msg/DisplayTrajectory.msg"
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"msg/DisplayRobotState.msg"
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"msg/Grasp.msg"
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"msg/GripperTranslation.msg"
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"msg/JointConstraint.msg"
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"msg/JointLimits.msg"
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"msg/LinkPadding.msg"
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"msg/LinkScale.msg"
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"msg/MotionPlanRequest.msg"
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"msg/MotionPlanResponse.msg"
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"msg/MotionPlanDetailedResponse.msg"
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"msg/MoveItErrorCodes.msg"
48+
"msg/TrajectoryConstraints.msg"
49+
"msg/ObjectColor.msg"
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"msg/OrientationConstraint.msg"
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"msg/OrientedBoundingBox.msg"
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"msg/PlaceLocation.msg"
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"msg/PlannerInterfaceDescription.msg"
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"msg/PlannerParams.msg"
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"msg/PlanningScene.msg"
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"msg/PlanningSceneComponents.msg"
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"msg/PlanningSceneWorld.msg"
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"msg/PlanningOptions.msg"
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"msg/PositionConstraint.msg"
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"msg/RobotState.msg"
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"msg/RobotTrajectory.msg"
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"msg/VisibilityConstraint.msg"
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"msg/WorkspaceParameters.msg"
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"msg/KinematicSolverInfo.msg"
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"msg/PositionIKRequest.msg"
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)
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81-
set(ACT_FILES
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ExecuteTrajectory.action
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MoveGroup.action
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Pickup.action
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Place.action
68+
set(srv_files
69+
"srv/GetMotionPlan.srv"
70+
"srv/ExecuteKnownTrajectory.srv"
71+
"srv/GetStateValidity.srv"
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"srv/GetCartesianPath.srv"
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"srv/GetPlanningScene.srv"
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"srv/GraspPlanning.srv"
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"srv/ApplyPlanningScene.srv"
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"srv/QueryPlannerInterfaces.srv"
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"srv/GetPositionFK.srv"
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"srv/GetPositionIK.srv"
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"srv/GetPlannerParams.srv"
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"srv/SetPlannerParams.srv"
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"srv/SaveMap.srv"
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"srv/LoadMap.srv"
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"srv/SaveRobotStateToWarehouse.srv"
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"srv/ListRobotStatesInWarehouse.srv"
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"srv/GetRobotStateFromWarehouse.srv"
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"srv/CheckIfRobotStateExistsInWarehouse.srv"
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"srv/RenameRobotStateInWarehouse.srv"
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"srv/DeleteRobotStateFromWarehouse.srv"
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)
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add_action_files(DIRECTORY action FILES ${ACT_FILES})
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add_message_files(DIRECTORY msg FILES ${MSG_FILES})
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add_service_files(DIRECTORY srv FILES ${SRV_FILES})
91+
set(action_files
92+
"action/ExecuteTrajectory.action"
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"action/MoveGroup.action"
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"action/Pickup.action"
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"action/Place.action"
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)
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92-
generate_messages(DEPENDENCIES ${MSG_DEPS})
98+
rosidl_generate_interfaces(${PROJECT_NAME}
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${msg_files}
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${srv_files}
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DEPENDENCIES
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action_msgs
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builtin_interfaces
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std_msgs
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geometry_msgs
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sensor_msgs
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shape_msgs
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object_recognition_msgs
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octomap_msgs
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trajectory_msgs
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)
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94-
catkin_package(DEPENDS ${MSG_DEPS})
113+
ament_package()

‎README.md‎

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# MoveIt! Msgs
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3+
## This fork is part of Acutronic Robotics' efforts in the migration of Moveit! to ROS 2.0
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35
This package includes the ROS messages specific to MoveIt!
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## Travis - Continuous Integration

‎msg/CollisionObject.msg‎

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# a header, used for interpreting the poses
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Header header
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std_msgs/Header header
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# the id of the object (name used in MoveIt)
55
string id

‎msg/ContactInformation.msg‎

Lines changed: 1 addition & 1 deletion
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# Standard ROS header contains information
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# about the frame in which this
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# contact is specified
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Header header
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std_msgs/Header header
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# Position of the contact point
77
geometry_msgs/Point position

‎msg/OrientationConstraint.msg‎

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# This message contains the definition of an orientation constraint.
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Header header
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std_msgs/Header header
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# The desired orientation of the robot link specified as a quaternion
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geometry_msgs/Quaternion orientation

‎msg/PositionConstraint.msg‎

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# This message contains the definition of a position constraint.
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Header header
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std_msgs/Header header
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# The robot link this constraint refers to
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string link_name

‎msg/PositionIKRequest.msg‎

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geometry_msgs/PoseStamped[] pose_stamped_vector
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# Maximum allowed time for IK calculation
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duration timeout
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builtin_interfaces/Duration timeout
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# Maximum number of IK attempts (if using random seeds; leave as 0 for the default value specified on the param server to be used)
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int32 attempts

‎msg/WorkspaceParameters.msg‎

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# the robot as well.
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# Define the frame of reference for the box corners
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Header header
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std_msgs/Header header
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# The minumum corner of the box, with respect to the robot starting pose
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geometry_msgs/Vector3 min_corner

‎package.xml‎

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<package>
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<package format="3">
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<name>moveit_msgs</name>
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<version>0.10.0</version>
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<description>Messages, services and actions used by MoveIt</description>
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<maintainer email="[email protected]">Robert Haschke</maintainer>
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<maintainer email="[email protected]">Isaac I. Y. Saito</maintainer>
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14-
<license>BSD</license>
14+
<license>BSD</license>
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<url type="website">http://moveit.ros.org</url>
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<url type="bugtracker">https://github.com/ros-planning/moveit_msgs/issues</url>
1717
<url type="repository">https://github.com/ros-planning/moveit_msgs</url>
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19-
<buildtool_depend>catkin</buildtool_depend>
20-
2119
<build_depend>message_generation</build_depend>
20+
<build_depend>rosidl_default_generators</build_depend>
2221
<build_depend>octomap_msgs</build_depend>
23-
<build_depend>actionlib_msgs</build_depend>
22+
<build_depend>action_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
2524
<build_depend>geometry_msgs</build_depend>
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<build_depend>trajectory_msgs</build_depend>
2726
<build_depend>shape_msgs</build_depend>
2827
<build_depend>object_recognition_msgs</build_depend>
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<build_depend>std_msgs</build_depend>
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31-
<run_depend>message_runtime</run_depend>
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<run_depend>octomap_msgs</run_depend>
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<run_depend>actionlib_msgs</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>trajectory_msgs</run_depend>
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<run_depend>shape_msgs</run_depend>
38-
<run_depend>object_recognition_msgs</run_depend>
39-
<run_depend>std_msgs</run_depend>
30+
<exec_depend>message_generation</exec_depend> <!-- provide message generation to downstream packages -->
31+
<exec_depend>message_runtime</exec_depend>
32+
<exec_depend>octomap_msgs</exec_depend>
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<exec_depend>action_msgs</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>trajectory_msgs</exec_depend>
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<exec_depend>shape_msgs</exec_depend>
38+
<exec_depend>object_recognition_msgs</exec_depend>
39+
<exec_depend>std_msgs</exec_depend>
40+
41+
<member_of_group>rosidl_interface_packages</member_of_group>
4042

43+
<export>
44+
<build_type>ament_cmake</build_type>
45+
</export>
4146
</package>

‎srv/GetCartesianPath.srv‎

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# Define the frame for the specified waypoints
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Header header
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std_msgs/Header header
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44
# The start at which to start the Cartesian path
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RobotState start_state

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