Pilz

Not used in a message style but implemented in C++ code. Repo: https://github.com/PilzDE/pilz_industrial_motion

Feature list

• Contains accelerations

Features required from hardware / driver

• Control interface

Message definition

[CartesianTrajectory]
string group_name # MoveIt! planning group name
string link_name
CartesianTrajectoryPoint[] points
  Duration time_from_start
  Pose pose
  Twist velocity
  Twist acceleration