From fd41eeb67986cee953e307fc25297ae1858b0ee4 Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Mon, 18 Jul 2016 22:38:40 +0900
Subject: [PATCH] Add .action file for execution trajectory in a ROS action

---
 CMakeLists.txt                       |  1 +
 action/ExecuteKnownTrajectory.action | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)
 create mode 100644 action/ExecuteKnownTrajectory.action

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c325b10..5af26ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,6 +77,7 @@ DeleteRobotStateFromWarehouse.srv
 )
 
 set(ACT_FILES
+ExecuteKnownTrajectory.action
 MoveGroup.action
 Pickup.action
 Place.action
diff --git a/action/ExecuteKnownTrajectory.action b/action/ExecuteKnownTrajectory.action
new file mode 100644
index 0000000..c5b4f78
--- /dev/null
+++ b/action/ExecuteKnownTrajectory.action
@@ -0,0 +1,18 @@
+# The trajectory to execute
+RobotTrajectory trajectory
+
+---
+
+# Error code - encodes the overall reason for failure
+MoveItErrorCodes error_code
+
+# The full starting state of the robot at the start of the trajectory
+moveit_msgs/RobotState trajectory_start
+
+# The trace of the trajectory recorded during execution
+moveit_msgs/RobotTrajectory executed_trajectory
+
+---
+
+# The internal state that the move group action currently is in
+string state