git commit -m "first commit"
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70
mir_robot/mir_actions/CHANGELOG.rst
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70
mir_robot/mir_actions/CHANGELOG.rst
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package mir_actions
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.1.7 (2023-01-20)
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------------------
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* Update MirMoveBase action to 2.10.3.1
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* Don't set cmake_policy CMP0048
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* Contributors: Martin Günther
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1.1.6 (2022-06-02)
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------------------
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* Rename mir_100 -> mir
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This is in preparation of mir_250 support.
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* Contributors: Martin Günther
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1.1.5 (2022-02-11)
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------------------
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1.1.4 (2021-12-10)
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------------------
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1.1.3 (2021-06-11)
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------------------
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* Merge branch 'melodic-2.8' into noetic
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* Remove RelativeMove action
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It was removed in MiR software 2.4.0.
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* Update mir_actions to MiR 2.8.3
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* Adjust to changed MirMoveBase action (MiR >= 2.4.0)
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See `#45 <https://github.com/DFKI-NI/mir_robot/issues/45>`_.
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* Contributors: Martin Günther
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1.1.2 (2021-05-12)
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------------------
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1.1.1 (2021-02-11)
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------------------
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* Contributors: Martin Günther
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1.1.0 (2020-06-30)
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------------------
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* Initial release into noetic
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* Contributors: Martin Günther
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1.0.6 (2020-06-30)
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------------------
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* Set cmake_policy CMP0048 to fix warning
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* Contributors: Martin Günther
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1.0.5 (2020-05-01)
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------------------
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1.0.4 (2019-05-06)
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------------------
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* Update mir_msgs and mir_actions to MiR 2.3.1
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* Contributors: Martin Günther
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1.0.3 (2019-03-04)
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------------------
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1.0.2 (2018-07-30)
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------------------
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1.0.1 (2018-07-17)
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------------------
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1.0.0 (2018-07-12)
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------------------
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* Initial release
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* Contributors: Martin Günther
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40
mir_robot/mir_actions/CMakeLists.txt
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40
mir_robot/mir_actions/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5.1)
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project(mir_actions)
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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geometry_msgs
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message_generation
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mir_msgs
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nav_msgs
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)
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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# Generate actions in the 'action' folder
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add_action_files(
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FILES
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MirMoveBase.action
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)
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# Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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geometry_msgs
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mir_msgs
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nav_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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CATKIN_DEPENDS
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actionlib
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geometry_msgs
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message_runtime
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mir_msgs
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nav_msgs
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)
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130
mir_robot/mir_actions/action/MirMoveBase.action
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130
mir_robot/mir_actions/action/MirMoveBase.action
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#goal definition
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#move type
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int16 BASE_MOVE = 0
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int16 GLOBAL_MOVE = 1
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int16 RELATIVE_MOVE = 2
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int16 RELATIVE_MARKER_MOVE = 3
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int16 DOCKING_MOVE = 4
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int16 DOCKING_GLOBAL_MOVE = 5
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int16 PATH_TYPE = 6
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int16 move_task
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#shared parameters
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geometry_msgs/PoseStamped target_pose
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string target_guid
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#global move parameters
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float64 goal_dist_threshold
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float64 goal_orientation_threshold
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nav_msgs/Path path
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float32 max_plan_time
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bool clear_costmaps
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bool pause_command
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bool continue_command
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#relative move parameters
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float64 yaw
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bool collision_detection
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bool collision_avoidance
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float64 disable_collision_check_dist
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float64 max_linear_speed
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float64 max_rotational_speed
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float64 pid_dist_offset
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float64 target_offset
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bool only_collision_detection
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float64 timeout
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#docking move parameters
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int32 pattern_type
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int32 pattern_value
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bool only_track
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bool same_goal
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string pose_frame
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geometry_msgs/Pose2D pose
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geometry_msgs/Pose2D offset
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float64 bar_length
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float64 bar_distance
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float64 shelf_leg_asymmetry_x
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float64 tolerance
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#Path type
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mir_msgs/MirLocalPlannerPathTypes path_type
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geometry_msgs/PoseStamped start_pose
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# float64 timeout
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---
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#result definition
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#shared states
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int16 UNDEFINED = 0
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int16 GOAL_REACHED = 1
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int16 FAILED = -1
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#global move states
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int16 MARKER_VISIBLE = 2
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int16 FAILED_NO_PATH = -2
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int16 FAILED_GOAL_IN_STATIC_OBSTACLE = -3
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int16 FAILED_GOAL_IN_FORBIDDEN_AREA = -4
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int16 FAILED_GOAL_IN_DYNAMIC_OBSTACLE = -5
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int16 FAILED_ROBOT_IN_COLLISION = -6
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int16 FAILED_ROBOT_IN_FORBIDDEN_AREA = -7
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int16 FAILED_UNKNOWN_TRAILER = -8
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int16 FAILED_TO_PASS_GLOBAL_PLAN = -9
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int16 FAILED_NO_VALID_RECOVERY_CONTROL = -10
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int16 FAILED_UNKNOWN_PLANNER_ERROR = -11
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int16 FAILED_ROBOT_OSCILLATING = -12
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int16 FAILED_SOFTWARE_ERROR = -13
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#relative move states
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int16 FAILED_TIMEOUT = -14
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int16 FAILED_COLLISION = -15
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int16 INVALID_GOAL = -16
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#docking move states
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int16 FAILED_MARKER_TRACKING_ERROR = -17
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#shared results
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int16 end_state
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geometry_msgs/PoseStamped end_pose
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#docking results
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geometry_msgs/Pose2D pose
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#feedback for UI
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string message
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---
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#feedback
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#shared
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int8 NOT_READY = -1
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int8 UNKNOWN = -2
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int8 WAITING_FOR_FLEET = -3
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int8 COLLISION = -4
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#global move states
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int8 PLANNING = 0
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int8 CONTROLLING = 1
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int8 CLEARING = 2
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#relative move states
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int8 DOCKING = 3
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#shared feedback
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int8 state
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#global move feedback
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geometry_msgs/PoseStamped base_position
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#relative move feedback
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geometry_msgs/PoseStamped current_goal
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geometry_msgs/PoseStamped dist_to_goal
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#docking move feedback
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geometry_msgs/Pose2D pose
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bool marker_inversion
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#path_types
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#reverse_trolly
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int8 MOVING_FORWARD = 10
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int8 MOVING_BACKWARD = 11
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25
mir_robot/mir_actions/package.xml
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25
mir_robot/mir_actions/package.xml
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<?xml version="1.0"?>
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<package format="2">
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<name>mir_actions</name>
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<version>1.1.7</version>
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<description>Action definitions for the MiR robot</description>
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<maintainer email="martin.guenther@dfki.de">Martin Günther</maintainer>
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<author email="martin.guenther@dfki.de">Martin Günther</author>
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<license>BSD</license>
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<url type="website">https://github.com/DFKI-NI/mir_robot</url>
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<url type="repository">https://github.com/DFKI-NI/mir_robot</url>
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<url type="bugtracker">https://github.com/DFKI-NI/mir_robot/issues</url>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>actionlib</depend>
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<depend>geometry_msgs</depend>
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<depend>mir_msgs</depend>
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<depend>nav_msgs</depend>
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<build_depend>message_generation</build_depend>
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<exec_depend>message_runtime</exec_depend>
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</package>
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