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add smoothness_level for new free path pilz planner command #190

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add smoothness_level for new free path pilz planner command #190

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3 changes: 3 additions & 0 deletions msg/MotionPlanRequest.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -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