Choose one MoveTo target form
A moveto request must specify exactly one target form: a named joint pose or SRDF state, a relative direction with distance, or a Cartesian pose. Each form has its own automatic planner fallback order. The deterministic-IK PTP branch for Cartesian targets is included only when IK succeeds.
EROBS / TARGET SELECTION
Choose one MoveTo target form
NAME
DISPLACE
POSE
What do you know
about the destination?
Named configuration
target: "pose_name"
Six joint values in degrees
or a named SRDF state
Relative movement
direction + distance
Metres along the selected
IK frame's local direction
Cartesian pose
cartesian_target
XYZ metres + optional RPY°
in frame_id (base_link)
AUTOMATIC PLANNER ORDER
PTP → pipeline
Pipeline uses configured
STOMP or OMPL/RRTstar.
LIN → CartesianPath
→ PTP
PTP with solved IK*
→ LIN → CartesianPath
*Skip PTP when IK fails.
Exactly one form is required. Mixing forms, or supplying none, is rejected.
These chains cover auto / joint modes; explicit planner choices override them.