On Wed, Jun 5, 2013 at 11:39 AM, Mrinal Kalakrishnan <kalakris@usc.edu> 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
<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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--
Adolfo Rodríguez Tsouroukdissian
Senior robotics engineer
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