[ros-users] cartesian trajectories

[Konrad Banachowicz]

After considering some of possible use-cases i came up with yet another
proposal (more detailed) :
[1]
http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05

Pozdrawiam
Konrad Banachowicz


2013/6/6 Konrad Banachowicz <konradb3 at gmail.com>

> Yes it is definitely out of scope of simple cartesian trajectory but it
> contains sub-message CartesianTrajectory which is simple and quiet self
> contained. I think that such complex goal message gives us good basis for
> discussion on it's building blocks like : CartesianTrajectory,
> CartesianImpedance ....
>
> Pozdrawiam
> Konrad Banachowicz
>
>
> 2013/6/6 Georg Bartels <georg.bartels at cs.uni-bremen.de>
>
>>  On 06/05/2013 09:40 PM, Jonathan Bohren wrote:
>>
>>
>> On Wed, Jun 5, 2013 at 1:18 PM, Konrad Banachowicz <konradb3 at gmail.com>wrote:
>>
>>> [CartesianTrajectoryGoal]
>>> Header header  # A stamp of 0 means "execute now"
>>>
>>>
>>>
>>>
>>> string[] effector_namesCartesianTrajectory[] 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!
>>
>> 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?
>>
>>
>>  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?
>>
>>  [1]
>> http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05
>>
>> Good idea. From now on moving to the REP?
>>
>>
>>  -j
>>
>>
>>  --
>> Jonathan Bohren
>> Laboratory for Computational Sensing and Robotics
>> http://dscl.lcsr.jhu.edu/People/JonathanBohren
>>
>>
>>
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