Add GetMultiStateValidity service (#186)

riv-ljames · rr-aiden · web-flow · commit 900ebbea1c80 · 2025-05-26T18:57:32.000+02:00
Co-authored-by: Aiden &lt;148049589+rr-aiden@users.noreply.github.com&gt;
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -79,6 +79,7 @@ set(msg_files
 
 set(srv_files
   "srv/GetMotionPlan.srv"
+  "srv/GetMultiStateValidity.srv"
   "srv/GetStateValidity.srv"
   "srv/GetCartesianPath.srv"
   "srv/GetPlanningScene.srv"
diff --git a/srv/GetMultiStateValidity.srv b/srv/GetMultiStateValidity.srv
@@ -0,0 +1,11 @@
+RobotState robot_state
+sensor_msgs/JointState[] joint_states
+string group_name
+Constraints constraints
+
+---
+
+bool valid
+ContactInformation[] contacts
+CostSource[] cost_sources
+ConstraintEvalResult[] constraint_result
