Sweetie Bot Proto2 movements

This package is part of Sweetie Bot project.

This package contains messages with movement trajectories, poses, movement planning requests stored in JSON format (rospy_message_convertor). They are meant to be loaded to ROS Parameter Server in serialized binary format before use to be accessed by parameter name. It is usually done automatically by sweetie_bot_deploy package deployment scripts.

Message types:

• control_msgs::FollowJointTrajectoryGoal in directory joint_trajectories. Note, that joints with support/<kinematic_chain> prefix has special meaning: they are defining contacts for corresponding kinematics chains.
• sweetie_bot_clop_generator::MoveBaseGoal in directory move_base.
• sweetie_bot_control_msgs::FollowStepSequenceGoal in directory step_sequence.
• sensor_msgs::JointState in directory joint_state.
• sweetie_bot_text_msgs::CompoundAction in directory compound_action.

Use store and store-all script from sweetie_bot_deploy to save/load messages from/to ROS Parameter Server. FollowJointTrajectoryGoal can be created sweetie_bot_trajectory_editor. Use gait_generator to create FollowStepSequenceGoal and MoveBaseGoal messages.