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Actions and nested goal states

asked 2022-12-23 07:50:30 -0500

NotARobot gravatar image

Greetings. Since it is possible that a array is a data structure for an action goal, I would assume that more complex data structures may also be possible. I would like to give my action server a list of poses so it can calculate and execute a path.

How can I define a nested data structure inside my action in order to hold the poses?

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answered 2022-12-23 08:45:09 -0500

clyde gravatar image

You can nest message types inside message types, service types and action types in both ROS1 and ROS2.

See section 2.1.1 of the documentation

See a tutorial

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Asked: 2022-12-23 07:50:30 -0500

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Last updated: Dec 23 '22