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 06/05/2013 09:40 PM, Jonathan Bohren wrote:
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
_______________________________________________ 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