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adding the service for move_2_cart #3

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fecd1af
adding the service for move_2_cart
OmidRezayof Jun 19, 2024
991f99a
Adding motion velocity to the MoveToPose service
OmidRezayof Jun 20, 2024
9827a46
adding FreeForm service
OmidRezayof Jun 27, 2024
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5 changes: 5 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,14 +18,19 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(geometry_msgs REQUIRED)


rosidl_generate_interfaces(lbr_fri_idl
msg/LBRCommand.msg
msg/LBRJointPositionCommand.msg
msg/LBRState.msg
msg/LBRTorqueCommand.msg
msg/LBRWrenchCommand.msg
srv/MoveToPose.srv
srv/FreeFormMove.srv
DEPENDENCIES builtin_interfaces
DEPENDENCIES builtin_interfaces geometry_msgs
ADD_LINTER_TESTS
)

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6 changes: 4 additions & 2 deletions package.xml
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Expand Up @@ -11,16 +11,18 @@
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>builtin_interfaces</depend>
<buildtool_depend>geometry_msgs</buildtool_depend>


<exec_depend>rosidl_default_runtime</exec_depend>

<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>fri_client_sdk</test_depend>
<test_depend>FRIClient</test_depend>

<member_of_group>rosidl_interface_packages</member_of_group>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
</package>
4 changes: 4 additions & 0 deletions srv/FreeFormMove.srv
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@@ -0,0 +1,4 @@
geometry_msgs/Pose[] goal_pose
std_msgs/Float32[] lin_vel
---
bool success
4 changes: 4 additions & 0 deletions srv/MoveToPose.srv
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@@ -0,0 +1,4 @@
geometry_msgs/Pose goal_pose
std_msgs/Float32 lin_vel
---
bool success