SmoothPath¶
Invokes the SmoothPath action API in the smoother server to smooth a given path plan.
Input Ports¶
unsmoothed_path: | |||||
---|---|---|---|---|---|
|
|||||
max_smoothing_duration: | |||||
|
|||||
check_for_collisions: | |||||
|
|||||
smoother_id: |
|
Output Ports¶
smoothed_path: |
|
||||
---|---|---|---|---|---|
smoothing_duration: | |||||
|
|||||
was_completed: |
|
Example¶
<SmoothPath unsmoothed_path="{path}" smoothed_path="{path}" max_smoothing_duration="3.0" smoother_id="simple_smoother" check_for_collisions="false" smoothing_duration="{smoothing_duration_used}" was_completed="{smoothing_completed}"/>