moveit2笛卡尔路径规划添加速度约束的代码

cmake_minimum_required(VERSION 3.5) project(cartesian_demo01) # Default to C99 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif() # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED system filesystem date_time thread) find_package(ament_cmake REQUIRED) find_package(control_msgs REQUIRED) find_package(moveit_core REQUIRED) find_package(moveit_ros_planning REQUIRED) find_package(moveit_ros_planning_interface REQUIRED) find_package(moveit_ros_perception REQUIRED) find_package(moveit_servo REQUIRED) find_package(interactive_markers REQUIRED) find_package(rviz_visual_tools REQUIRED) find_package(moveit_visual_tools REQUIRED) find_package(geometric_shapes REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) find_package(pluginlib REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_eigen REQUIRED) find_package(tf2_geometry_msgs REQUIRED) set(THIS_PACKAGE_INCLUDE_DIRS doc/interactivity/include ) set(THIS_PACKAGE_INCLUDE_DEPENDS ament_cmake rclcpp rclcpp_action tf2_geometry_msgs tf2_ros moveit_core rviz_visual_tools moveit_visual_tools moveit_ros_planning_interface interactive_markers tf2_geometry_msgs moveit_ros_planning pluginlib Eigen3 Boost control_msgs moveit_servo ) include_directories(${THIS_PACKAGE_INCLUDE_DIRS}) add_executable(main1 src/main1.cpp) target_include_directories(main1 PUBLIC include) ament_target_dependencies(main1 ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost) install(TARGETS main1 DESTINATION lib/${PROJECT_NAME} ) install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} ) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights # uncomment the line when a copyright and license is not present in all source files #set(ament_cmake_copyright_FOUND TRUE) # the following line skips cpplint (only works in a git repo) # uncomment the line when this package is not in a git repo #set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() endif() ament_package()