Konrad's proposition looks indeed promising. However, I'd like to point out that this is more than a Cartesian Trajectory. This looks more like a goal message to a very sophisticated controller, e.g. whole-body motion framework or iTaSC. Shouldn't the Cartesian Trajectory msg be somewhat smaller in scope and then be reused? Maybe more like in the spirit of std_msgs which are mainly used as building blocks for bigger and semantically annotated messages?
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!
Good idea. From now on moving to the REP?
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?
-j
--
Jonathan Bohren
Laboratory for Computational Sensing and Robotics
http://dscl.lcsr.jhu.edu/People/JonathanBohren
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