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.