ExecutePathPlanning.srv

# Execute whole-body collision aware path planning using HPP

# Requests
# base_goal_type: GLOBAL: The goal location is an absolute location wrt the global frame (world frame)
#                 LOCAL_ALIGNED: The goal location is relative to the world frame aligned with the robot base frame
#                 LOCAL: The goal location is relative to the robot base frame
# joint_goal_state: Goal joint state
# base_goal_pose: Robot base goal location
# base_pos_tolerance [opt]: Position tolerance for considering the goal location has been reached, default 0.01 m
# base_ori_tolerance [opt]: Orientation (in quaternion) tolerance, default 0.02 for all coefficients

std_msgs/Header header
uint8 GLOBAL=0
uint8 LOCAL_ALIGNED=1
uint8 LOCAL=2
uint8 base_goal_type
sensor_msgs/JointState joint_goal_state
geometry_msgs/Pose base_goal_pose
float64 base_pos_tolerance
float64 base_ori_tolerance
---
uint8 SUCCEEDED=0
uint8 FAILED=1
uint8 result_status