ros2_interfaces_rolling/moveit_msgs/srv/
get_position_fk.rs

1use serde::{Deserialize, Serialize};
2
3
4#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
5pub struct GetPositionFKRequest {
6    pub header: crate::std_msgs::msg::Header,
7    pub fk_link_names: Vec<::std::string::String>,
8    pub robot_state: crate::moveit_msgs::msg::RobotState,
9}
10
11impl Default for GetPositionFKRequest {
12    fn default() -> Self {
13        GetPositionFKRequest {
14            header: crate::std_msgs::msg::Header::default(),
15            fk_link_names: Vec::new(),
16            robot_state: crate::moveit_msgs::msg::RobotState::default(),
17        }
18    }
19}
20
21impl ros2_client::Message for GetPositionFKRequest {}
22
23
24
25#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
26pub struct GetPositionFKResponse {
27    pub pose_stamped: Vec<crate::geometry_msgs::msg::PoseStamped>,
28    pub fk_link_names: Vec<::std::string::String>,
29    pub error_code: crate::moveit_msgs::msg::MoveItErrorCodes,
30}
31
32impl Default for GetPositionFKResponse {
33    fn default() -> Self {
34        GetPositionFKResponse {
35            pose_stamped: Vec::new(),
36            fk_link_names: Vec::new(),
37            error_code: crate::moveit_msgs::msg::MoveItErrorCodes::default(),
38        }
39    }
40}
41
42impl ros2_client::Message for GetPositionFKResponse {}
43
44
45pub struct GetPositionFK;
46impl ros2_client::Service for GetPositionFK {
47    type Request = GetPositionFKRequest;
48    type Response = GetPositionFKResponse;
49
50    fn request_type_name(&self) -> &str { "GetPositionFKRequest" }
51    fn response_type_name(&self) -> &str { "GetPositionFKResponse" }
52}
ros2_interfaces_rolling/moveit_msgs/srv/get_position_fk.rs

ros2_interfaces_rolling/moveit_msgs/srv/
get_position_fk.rs
