Goal msg and SetGoal srv: added frame_id parameter to specify in which frame on the robot we want the goal

2026-10-04 00:37:46 +08:00 · 2019-01-18 18:05:07 -05:00
parent b09ff6c511
commit c09eabd291
5 changed files with 67 additions and 10 deletions
@@ -1,8 +1,14 @@
 #request
+
 # Set either node_id or node_label
 int32 node_id
 string node_label
+
+# optional: if not set, the base frame of the robot is used
+string frame_id
+
 ---
+
 #response 
 int32[] path_ids
 geometry_msgs/Pose[] path_poses