[ros-users] cartesian trajectories

[Mrinal Kalakrishnan]

Let me correct that. We actually don't use a specific
"CartesianTrajectory" msg any more. Instead, we have a generic
"Trajectory" msg, which has a list of dimension names and
TrajectoryPoints - which makes it very similar to a JointTrajectory
msg. We then agree upon a naming scheme, like "r_hand_cart_x",
"r_hand_cart_force_x", and "r_hand_cart_gain_x" and so on. This allows
us to synchronize the execution of cartesian positions, forces and
gains (impedances), on multiple end-effectors if needed. We can also
send joint trajectories (or null-space joint posture trajectories)
through the same interface.

Maybe this is not how you want the CartesianTrajectory msg to look,
but I just thought I'd mention where we ended up after a few
iterations, to have all the functionality we needed.

- Mrinal

On Wed, Jun 5, 2013 at 11:56 AM, Adolfo Rodríguez Tsouroukdissian
<adolfo.rodriguez at pal-robotics.com> wrote:
>
>
>
> 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
> other.
>
> Adolfo.
>>
>>
>> - 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
>> >
>> >
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>
>
>
>
> --
> Adolfo Rodríguez Tsouroukdissian
> Senior robotics engineer
> adolfo.rodriguez at pal-robotics.com
> http://www.pal-robotics.com
>
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