TrajectoryPoint

Message Definition

geometry_msgs/Pose     pose
geometry_msgs/Twist    velocity
duration              time_from_start

Field Descriptions

• pose (geometry_msgs/Pose)

  The position and orientation at this trajectory point.

• velocity (geometry_msgs/Twist)

  The linear and angular velocity at this trajectory point.

• time_from_start (duration)

  Time from the start of the trajectory to this point.

Links

• geometry_msgs/Pose Message

• geometry_msgs/Twist Message

Example Usage

# Python
import rospy
from cohan_msgs.msg import TrajectoryPoint
from geometry_msgs.msg import Pose, Twist

# Create a TrajectoryPoint message
point = TrajectoryPoint()

# Set pose
point.pose = Pose()
point.pose.position.x = 1.0
point.pose.position.y = 2.0
point.pose.position.z = 0.0
# Set orientation...

# Set velocity
point.velocity = Twist()
point.velocity.linear.x = 0.5
# Set other velocity components...

# Set timing
point.time_from_start = rospy.Duration(1.0)  # 1 second from start