Standard definition of cartesian trajectory would be very useful. For my
work on impedance control aplications i am using fallowing messages:
https://github.com/RCPRG-ros-pkg/lwr_robot/tree/master/lwr_impedance_controller/msg

It would be very interesting to define standard messages for cartesian
trajectories for impedance controlled robots.


Pozdrawiam
Konrad Banachowicz


2013/6/5 Edwards, Shaun M. <sedwards@swri.org>

>  I added some note to the discussion on the wiki as well.
>
> Sent from my mobile phone
>
> On Jun 4, 2013, at 8:53 PM, "Jonathan Bohren" <jonathan.bohren@gmail.com>
> wrote:
>
>
> On Tue, Jun 4, 2013 at 9:09 PM, Edwards, Shaun M. <sedwards@swri.org>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
>
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