[ros-users] cartesian trajectories

Adolfo Rodríguez Tsouroukdissian adolfo.rodriguez at pal-robotics.com
Wed Jun 5 09:56:27 UTC 2013

On Wed, Jun 5, 2013 at 11:39 AM, Mrinal Kalakrishnan <kalakris at 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


> - Mrinal
> On Wed, Jun 5, 2013 at 3:53 AM, Jonathan Bohren
> <jonathan.bohren at gmail.com> wrote:
> >
> > On Tue, Jun 4, 2013 at 9:09 PM, Edwards, Shaun M. <sedwards at 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 at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users

Adolfo Rodríguez Tsouroukdissian
Senior robotics engineer
adolfo.rodriguez at pal-robotics.com

c/ Pujades 77-79, 4º4ª
08005 Barcelona, Spain.
Tel. +34.93.414.53.47
Skype: adolfo.pal-robotics
Facebook <http://www.facebook.com/palrobotics1> -
Twitter<http://twitter.com/#%21/palrobotics>- PAL
Robotics YouTube Channel <http://www.youtube.com/user/PALRobotics>

AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden
contener información privilegiada y/o confidencial que está dirigida
exclusivamente a su destinatario. Si usted recibe este mensaje y no es el
destinatario indicado, o el empleado encargado de su entrega a dicha
persona, por favor, notifíquelo inmediatamente y remita el mensaje original
a la dirección de correo electrónico indicada. Cualquier copia, uso o
distribución no autorizados de esta comunicación queda estrictamente

CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may
contain confidential information which is privileged and intended only for
the individual or entity to whom they are addressed.  If you are not the
intended recipient, you are hereby notified that any disclosure, copying,
distribution or use of this e-mail and/or accompanying document(s) is
strictly prohibited.  If you have received this e-mail in error, please
immediately notify the sender at the above e-mail address.
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20130605/b364650b/attachment-0004.html>

More information about the ros-users mailing list