[ros-users] cartesian trajectories
jonathan.bohren at gmail.com
Wed Jun 5 19:40:58 UTC 2013
On Wed, Jun 5, 2013 at 1:18 PM, Konrad Banachowicz <konradb3 at gmail.com>wrote:
> 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_velocityCartesianTolerance 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!
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
 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?
Laboratory for Computational Sensing and Robotics
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