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API review

Proposer: Stuart Glaser

Present at review:

This review is to approve actions and messages moved from the pr2_controllers_msgs package. The messages have been moved in order to provide an interface to trajectory and head control that is not PR2 specific.

The review covers three messages/actions: the JointTolerance message, the FollowJointTrajectory action, and the PointHeadAction action, all described below.

string name
float64 position
float64 velocity
float64 acceleration

trajectory_msgs/JointTrajectory trajectory
duration goal_time_tolerance
JointTolerance[] path_tolerance
JointTolerance[] goal_tolerance

---
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 INVALID_JOINTS = -2
int32 OLD_HEADER_TIMESTAMP = -3
int32 PATH_TOLERANCE_VIOLATED = -4
int32 GOAL_TOLERANCE_VIOLATED = -5

---
Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error

geometry_msgs/PointStamped target
geometry_msgs/Vector3 pointing_axis
string pointing_frame
duration min_duration
float64 max_velocity
---
---

Question / concerns / comments

Wim

Sachin

Gil

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)



2020-09-19 12:38