From d6dec3a77232bd9f549a6bf383c7487064422eb5 Mon Sep 17 00:00:00 2001 From: Steven Schreck Date: Wed, 19 Jun 2024 09:17:38 +0200 Subject: [PATCH] added time_optimize parameter to GetCartesianPath.srv for optional time optimization during cartesian path planning --- srv/GetCartesianPath.srv | 3 +++ 1 file changed, 3 insertions(+) diff --git a/srv/GetCartesianPath.srv b/srv/GetCartesianPath.srv index 29a4c8f..76217e3 100644 --- a/srv/GetCartesianPath.srv +++ b/srv/GetCartesianPath.srv @@ -43,6 +43,9 @@ bool avoid_collisions # Specify additional constraints to be met by the Cartesian path Constraints path_constraints +# Set to false if you want to disable time optimization of the trajectory, specifically helpful if you have other shapes than linear moves and want to keep the original shape. +bool time_optimize + --- # The state at which the computed path starts