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