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
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> _______________________________________________
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>
--
Adolfo Rodríguez Tsouroukdissian
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