From 569a4c221715d2bff3647999579bd25362fdc67b Mon Sep 17 00:00:00 2001 From: Niko Date: Mon, 4 Sep 2023 19:32:27 +0200 Subject: [PATCH] added DMPS.msg --- src/active_bo_msgs/msg/DMP.msg | 7 ++++--- src/active_bo_ros/launch/active_bo_service.launch.py | 1 + 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/active_bo_msgs/msg/DMP.msg b/src/active_bo_msgs/msg/DMP.msg index f8f780f..ce764e5 100644 --- a/src/active_bo_msgs/msg/DMP.msg +++ b/src/active_bo_msgs/msg/DMP.msg @@ -1,7 +1,8 @@ -# Start- and endpoint, time to perform the trajectory -geometry_msgs/Pose start_point -geometry_msgs/Pose end_point +# Start- and endpoint, time to perform the trajectory and number of basis functions +float64[7] start_point +float64[7] end_point float64 time +int32 nr_bfs # weights for the dimensions of the Pose (3 Position, 4 Orientation) float64[] p_x diff --git a/src/active_bo_ros/launch/active_bo_service.launch.py b/src/active_bo_ros/launch/active_bo_service.launch.py index 362ff51..cdc51d5 100755 --- a/src/active_bo_ros/launch/active_bo_service.launch.py +++ b/src/active_bo_ros/launch/active_bo_service.launch.py @@ -1,6 +1,7 @@ from launch import LaunchDescription from launch_ros.actions import Node + def generate_launch_description(): return LaunchDescription([ Node(