DriveArc.action

# Request
int8 TRANSLATE_FORWARD = 1
int8 TRANSLATE_BACKWARD = -1

# Whether to arc forward or backward from robot's current position
int8 translate_direction
# Relative angle (radians) for robot to rotate along arc from current heading.  Angles greater than 2 PI will cause the robot to rotate in multiple circles
float32 angle
# Radius of arc (meters) for robot to drive along
float32 radius
# Max translation speed (positive m/s), will cap negative distance to negative speed
float32 max_translation_speed 0.3
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# Result
# Pose where robot finished
geometry_msgs/PoseStamped pose
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# Feedback
# Remaining radians to rotate
float32 remaining_angle_travel