• File: open_manipulator_msgs/SetDrawingTrajectory.srv

  • Service Definition 
    string end_effector_name
string drawing_trajectory_name
float64[] param
float64 path_time
---
bool is_planned

  • Description
    This service creates a drawing trajectory.

    • Request

      • string end_effector_name
           End-Effector name which is relative to the base frame

      • string drawing_trajectory_name
           The name of the drawing trajectory type. (line, circle, heart, rhombus)

      • float64[] param
           Parameters required for the drawing trajectory generation.

      • float64 path_time
           Total time of the trajectory.

    • Response
      • bool is_planned
           Whether the path is created.