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ros1_mapping.yaml
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ros1_mapping.yaml
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enable_foreign_mappings: true
ros1_package_name: 'moveit_msgs'
ros1_message_name: 'MotionPlanRequest'
ros2_package_name: 'moveit_msgs'
ros2_message_name: 'MotionPlanRequest'
fields_1_to_2:
workspace_parameters: 'workspace_parameters'
start_state: 'start_state'
goal_constraints: 'goal_constraints'
path_constraints: 'path_constraints'
trajectory_constraints: 'trajectory_constraints'
reference_trajectories: 'reference_trajectories'
pipeline_id: 'pipeline_id'
planner_id: 'planner_id'
group_name: 'group_name'
num_planning_attempts: 'num_planning_attempts'
allowed_planning_time: 'allowed_planning_time'
max_velocity_scaling_factor: 'max_velocity_scaling_factor'
max_acceleration_scaling_factor: 'max_acceleration_scaling_factor'
cartesian_speed_limited_link: 'cartesian_speed_end_effector_link'
max_cartesian_speed: 'max_cartesian_speed'
# FollowJointTrajectory in ros2 had multi dof stuff added to it. Map the things that are similar.
# Unmapped fields will be ignored
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enable_foreign_mappings: true
ros1_package_name: 'control_msgs'
ros1_action_name: 'FollowJointTrajectory'
ros2_package_name: 'control_msgs'
ros2_action_name: 'FollowJointTrajectory'
goal_fields_1_to_2:
trajectory: 'trajectory'
path_tolerance: 'path_tolerance'
goal_tolerance: 'goal_tolerance'
goal_time_tolerance: 'goal_time_tolerance'
result_fields_1_to_2:
error_code: 'error_code'
error_string: 'error_string'
feedback_fields_1_to_2:
header: 'header'
joint_names: 'joint_names'
desired: 'desired'
actual: 'actual'
error: 'error'
# Note: This won't work since the defines for the different levels changed.
# -
# enable_foreign_mappings: true
# ros1_package_name: 'rosgraph_msgs'
# ros1_message_name: 'Log'
# ros2_package_name: 'rcl_interfaces'
# ros2_message_name: 'Log'
# fields_1_to_2:
# header.stamp: 'stamp'
# level: 'level'
# name: 'name'
# msg: 'msg'
# file: 'file'
# function: 'function'
# line: 'line'
# topics: null