Merge pull request #190 from AimanHaidar/feature/smoothness-level

EzraBrooks · web-flow · commit 8daca8c56914 · 2025-12-02T13:14:57.000-07:00
add smoothness_level for new polyline path pilz planner command
diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg
@@ -56,3 +56,6 @@ float64 max_acceleration_scaling_factor
 # These fields require the following planning request adapter: default_planning_request_adapters/LimitMaxCartesianLinkSpeed
 string cartesian_speed_limited_link
 float64 max_cartesian_speed # m/s
+# for level of smoothness for the FREE command
+# it should be between 0.01 and 1.0
+float64 smoothness_level
