Let me correct that. We actually don't use a specific "CartesianTrajectory" msg any more. Instead, we have a generic "Trajectory" msg, which has a list of dimension names and TrajectoryPoints - which makes it very similar to a JointTrajectory msg. We then agree upon a naming scheme, like "r_hand_cart_x", "r_hand_cart_force_x", and "r_hand_cart_gain_x" and so on. This allows us to synchronize the execution of cartesian positions, forces and gains (impedances), on multiple end-effectors if needed. We can also send joint trajectories (or null-space joint posture trajectories) through the same interface. Maybe this is not how you want the CartesianTrajectory msg to look, but I just thought I'd mention where we ended up after a few iterations, to have all the functionality we needed. - Mrinal On Wed, Jun 5, 2013 at 11:56 AM, Adolfo Rodríguez Tsouroukdissian wrote: > > > > On Wed, Jun 5, 2013 at 11:39 AM, Mrinal Kalakrishnan > wrote: >> >> We use a simple Cartesian trajectory msg internally at USC. The one >> additional thing we have is accelerations at each >> CartesianTrajectoryPoint. This allows us to use quintic splines in >> cartesian space, for continuous accelerations between segments >> (similar to the JointTrajectory msg). > > > +1 for accelerations in the message specification. Also, the more > parallelisms we can make with the JointTrajectory msg the better. If you're > used to the look& feel of one, it should be straightforward to use the > other. > > Adolfo. >> >> >> - Mrinal >> >> On Wed, Jun 5, 2013 at 3:53 AM, Jonathan Bohren >> wrote: >> > >> > On Tue, Jun 4, 2013 at 9:09 PM, Edwards, Shaun M. >> > wrote: >> >> >> >> Are you aware if anybody is currently using a cartesian trajectory >> >> (this >> >> definition or any other)? >> > >> > >> > There's an old repository of Stu's here: >> > >> > https://bitbucket.org/sglaser/pr2_controllers_exp/src/02aa61c12b4b/jt_traj_controller_msgs/msg >> > >> > I think at one point there was something similar in ros_control or >> > moveit, >> > too. I put together a minimal cartesian trajectory message which was >> > just an >> > array of Poses and Twists with associated durations, but I think it >> > should >> > have some of the features that the aforementioned review describes. >> > Other >> > than that I don't know. >> > >> > -- >> > Jonathan Bohren >> > Laboratory for Computational Sensing and Robotics >> > http://dscl.lcsr.jhu.edu/People/JonathanBohren >> > >> > >> > _______________________________________________ >> > ros-users mailing list >> > ros-users@code.ros.org >> > https://code.ros.org/mailman/listinfo/ros-users >> > >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > > > -- > Adolfo Rodríguez Tsouroukdissian > Senior robotics engineer > adolfo.rodriguez@pal-robotics.com > http://www.pal-robotics.com > > PAL ROBOTICS S.L > c/ Pujades 77-79, 4º4ª > 08005 Barcelona, Spain. > Tel. +34.93.414.53.47 > Fax.+34.93.209.11.09 > Skype: adolfo.pal-robotics > Facebook - Twitter - PAL Robotics YouTube Channel > > AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden > contener información privilegiada y/o confidencial que está dirigida > exclusivamente a su destinatario. Si usted recibe este mensaje y no es el > destinatario indicado, o el empleado encargado de su entrega a dicha > persona, por favor, notifíquelo inmediatamente y remita el mensaje original > a la dirección de correo electrónico indicada. Cualquier copia, uso o > distribución no autorizados de esta comunicación queda estrictamente > prohibida. > > CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may > contain confidential information which is privileged and intended only for > the individual or entity to whom they are addressed. If you are not the > intended recipient, you are hereby notified that any disclosure, copying, > distribution or use of this e-mail and/or accompanying document(s) is > strictly prohibited. If you have received this e-mail in error, please > immediately notify the sender at the above e-mail address. > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >