From e11f494bdc25a48f30c5b1ca0cad01d900af2dba Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Thu, 18 Aug 2016 15:37:13 +0900
Subject: [PATCH] Add .action file for execution trajectory in a ROS action
 (#24)

---
 CMakeLists.txt            |  1 +
 action/ExecutePath.action | 12 ++++++++++++
 2 files changed, 13 insertions(+)
 create mode 100644 action/ExecutePath.action

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e9400b..53d11d6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,7 @@ DeleteRobotStateFromWarehouse.srv
 )
 
 set(ACT_FILES
+ExecutePath.action
 MoveGroup.action
 Pickup.action
 Place.action
diff --git a/action/ExecutePath.action b/action/ExecutePath.action
new file mode 100644
index 0000000..9dd2f6c
--- /dev/null
+++ b/action/ExecutePath.action
@@ -0,0 +1,12 @@
+# The trajectory to execute
+RobotTrajectory trajectory
+
+---
+
+# Error code - encodes the overall reason for failure
+MoveItErrorCodes error_code
+
+---
+
+# The internal state that the move group action currently is in
+string state