<div dir="ltr"><div class="gmail_extra"><br><div class="gmail_quote">On Tue, Jun 4, 2013 at 9:09 PM, Edwards, Shaun M. <span dir="ltr"><<a href="mailto:sedwards@swri.org" target="_blank">sedwards@swri.org</a>></span> wrote:<br>

<blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex"><div style="direction:ltr;font-size:10pt;font-family:Tahoma">

Are you aware if anybody is currently using a cartesian trajectory (this definition or any other)?</div></blockquote></div><br>There's an old repository of Stu's here:</div><div class="gmail_extra"><a href="https://bitbucket.org/sglaser/pr2_controllers_exp/src/02aa61c12b4b/jt_traj_controller_msgs/msg">https://bitbucket.org/sglaser/pr2_controllers_exp/src/02aa61c12b4b/jt_traj_controller_msgs/msg</a></div>

<div class="gmail_extra"><br></div><div class="gmail_extra" style>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.</div>

<div class="gmail_extra" style><br></div><div class="gmail_extra" style>-- <br></div><div class="gmail_extra">Jonathan Bohren<br>Laboratory for Computational Sensing and Robotics<br><a href="http://dscl.lcsr.jhu.edu/People/JonathanBohren">http://dscl.lcsr.jhu.edu/People/JonathanBohren</a><br>

<br>
</div></div>