added time_optimize parameter to GetCartesianPath.srv for optional ti…

…me optimization during cartesian path planning
moveit · Jun 19, 2024 · d6dec3a · d6dec3a
1 parent 99e6898
commit d6dec3a
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/srv/GetCartesianPath.srv b/srv/GetCartesianPath.srv
@@ -43,6 +43,9 @@ bool avoid_collisions
 # Specify additional constraints to be met by the Cartesian path
 Constraints path_constraints
 
+# Set to false if you want to disable time optimization of the trajectory, specifically helpful if you have other shapes than linear moves and want to keep the original shape.
+bool time_optimize
+
 ---
 
 # The state at which the computed path starts