On Wed, Jun 5, 2013 at 1:18 PM, Konrad Banachowicz <konradb3@gmail.com> wrote:

[CartesianTrajectoryGoal]
Header header  # A stamp of 0 means "execute now"




string[] effector_names
CartesianTrajectory[] trajectory
  PoseStamped tool  # The frame which is being controlled
  CartesianTrajectoryPoint[] points
    duration time_from_start
    Pose pose
    Twist twist
CartesianImpedance[] impedance
    TBD stiffness % cartesian stiffness 
    TBD damping % damping ratio
CartesianTolerance[] path_tolerance  # Tolerance for aborting the path
  float64 position
  float64 orientation  # Permitted angular error
  float64 velocity
  float64 angular_velocity
CartesianTolerance[] goal_tolerance  # Tolerance for when reaching the goal is considered successful
JointTrajectory posture  # For determining the redundancy
JointImpedance nullspace_impedance # TBD

I like where this version is going!

Meanwhile, between comments in different mailing lists, and comments on the wiki in the old robot_mechanism_controllers, it'd be great if we could aggregate this discussion. Really it seems like this is an extension to the trajectory_msgs package, so maybe we can do an online review where people can propose and comment on different options and subjects. I've started one [1] with the initial proposal from the old wg review, and added Konrad's proposal above (feel free to remove/edit that, Konrad). I think we can use the robot control SIG to coordinate, and ping ros-users for high-level notices. Then when we've at least gotten the scope down, we can initiate an REP request. How does that sound?

[1] http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05

-j

--
Jonathan Bohren
Laboratory for Computational Sensing and Robotics
http://dscl.lcsr.jhu.edu/People/JonathanBohren