ExecuteMirroredPose.srv

# Given a reference group and its goal, execute the goal for this group and meanwhile,
# calculate the corresponding trajectory for the mirror group, such that the trajectory
# for both groups are mirrored for each other.

# Requests
# reference_group: The group that reference to.
# mirror_group: The group being a mirror of the reference group
# goal_type: BASE_ABS: Absolute pose wrt the base frame (robot base)
#            BASE_REL: Relative pose wrt the base frame transferred to current eef base position
#            EEF: pose wrt the eef frame
# goal: Goal pose for the reference group. We can only define one goal for one group.
# stamp: Time interval for reaching each goals. One for each group.
# mirror_vector: A vector defining the symbol of the mirror,
#                should have the same number of elements as the DOF of both reference group and mirror group
# is_cartesian: If true, the path to the goal is a Cartesian path.
# allow_collision: If true, disable collision check during the movement.

std_msgs/Header header
string reference_group
string mirror_group
uint8 BASE_ABS=0
uint8 BASE_REL=1
uint8 EEF=2
uint8 goal_type
geometry_msgs/Pose goal
float64 stamp
float64[] mirror_vector
bool is_cartesian
bool allow_collision
---
uint8 SUCCEEDED=0
uint8 FAILED=1
uint8 result_status