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replace obstacle_avoidance message with trajectory_waypoint and trajectory_bezier

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This commit is contained in:
Martina
2018-07-12 16:36:11 -04:00
committed by Daniel Agar
parent 82e0547f6e
commit e59a29197e
4 changed files with 63 additions and 17 deletions
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msg/trajectory_waypoint.msg
+33
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# Waypoints Trajectory description. See also Mavlink TRAJECTORY msg
uint8 POINT_0 = 0
uint8 POINT_1 = 1
uint8 POINT_2 = 2
uint8 POINT_3 = 3
uint8 POINT_4 = 4
uint8 X = 0
uint8 Y = 1
uint8 Z = 2
uint8 VX = 3
uint8 VY = 4
uint8 VZ = 5
uint8 AX = 6
uint8 AY = 7
uint8 AZ = 8
uint8 YAW = 9
uint8 YAW_SPEED = 10
uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
float32[11] point_0 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_1 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_2 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_3 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_4 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
bool[5] point_valid # States if respective point is valid
# TOPICS trajectory_waypoint trajectory_waypoint_desired