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Motion Service API

The motion service API supports the following methods:

Method Name	Description
`Move`	The `Move` method is the primary way to move multiple components, or to move any object to any other location.
`MoveOnMap`	Move a base component to a destination pose on a SLAM map.
`MoveOnGlobe`	Move a base component to a destination GPS point, represented in geographic notation (latitude, longitude).
`GetPose`	`GetPose` gets the location and orientation of a component within the frame system.
`StopPlan`	Stop a base component being moved by an in progress `MoveOnGlobe` or `MoveOnMap` call.
`ListPlanStatuses`	Returns the statuses of plans created by `MoveOnGlobe` or `MoveOnMap` calls that meet at least one of the following conditions since the motion service initialized: - the plan’s status is in progress - the plan’s status changed state within the last 24 hours All repeated fields are in chronological order.
`GetPlan`	By default, returns the plan history of the most recent `MoveOnGlobe` or `MoveOnMap` call to move a base component.
`Reconfigure`	Reconfigure this resource.
`FromRobot`	Get the resource from the provided machine.
`DoCommand`	Execute model-specific commands that are not otherwise defined by the service API.
`GetResourceName`	Get the `ResourceName` for this instance of the motion service.
`Close`	Safely shut down the resource and prevent further use.

For full method signatures, parameters, and code examples, see the auto-generated motion API reference.

Method overview

Plans and executes a motion for a component to a destination pose. This is the primary method for arm and gantry motion planning.

Supported by: builtin motion service.

Key parameters:

Plans and executes motion on a SLAM map.

Not supported by the builtin motion service. Requires a module implementation.

Plans and executes motion to a GPS coordinate.

Not supported by the builtin motion service. Use the navigation service for GPS-based navigation.

Retrieves the plan for an executing motion.

Not supported by the builtin motion service.

Lists all active and recently completed plan statuses.

Not supported by the builtin motion service.

Stops an executing plan.

Not supported by the builtin motion service.

Gets the pose of a component. Use robot.GetPose() instead.

Sends arbitrary commands. The builtin motion service supports "plan", "execute", and "executeCheckStart" commands.

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