A set of motion modes of the robot, defining who is contolling the motion.

enumerator NONE

No motion is possible in this mode.

enumerator CUSTOM

Custom motion commands on topic platform.velocity_cmd control the robot.

enumerator JOYSTICK

Motion commands from a connected joystick control the robot.

enumerator AUTOMATIC

The LocalPlanner is controlling the robot, usually following a path generated by the HybridPlanner.