39 lines
908 B
Plaintext
39 lines
908 B
Plaintext
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# BT DR pp17-18; explicit optional-point/pose validity bits added in v1.
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string task_id
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string subtask_id
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string destination_ref
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string destination_description
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string object_ref
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string object_description
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builtin_interfaces/Time capture_after
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string placement_constraints_json
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builtin_interfaces/Duration timeout
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---
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uint8 SUCCEEDED=0
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uint8 FAILED=1
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uint8 NO_FREE_SPACE=2
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uint8 AMBIGUOUS=3
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uint8 status
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string destination_ref
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string placement_region_ref
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geometry_msgs/PointStamped placement_point
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bool placement_point_valid
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geometry_msgs/PoseStamped placement_pose
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bool placement_pose_valid
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float32 confidence
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bool geometry_valid
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string quality_code
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string observation_id
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builtin_interfaces/Time observed_at
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builtin_interfaces/Time valid_until
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string error_code
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string message
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string record_ref
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---
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uint8 CAPTURING=0
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uint8 PROCESSING=1
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builtin_interfaces/Time stamp
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uint32 sequence
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uint8 phase
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string message
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