<div dir="ltr"><div dir="ltr"><br><div class="gmail_extra"><br><br><div class="gmail_quote">On Wed, Jun 5, 2013 at 11:39 AM, Mrinal Kalakrishnan <span dir="ltr"><<a href="mailto:kalakris@usc.edu" target="_blank">kalakris@usc.edu</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">We use a simple Cartesian trajectory msg internally at USC. The one<br>
additional thing we have is accelerations at each<br>
CartesianTrajectoryPoint. This allows us to use quintic splines in<br>
cartesian space, for continuous accelerations between segments<br>
(similar to the JointTrajectory msg).<br></blockquote><div><br></div><div>+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.<br>
<br>Adolfo.<br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<span class="HOEnZb"><font color="#888888"><br>
- Mrinal<br>
</font></span><div class="HOEnZb"><div class="h5"><br>
On Wed, Jun 5, 2013 at 3:53 AM, Jonathan Bohren<br>
<<a href="mailto:jonathan.bohren@gmail.com">jonathan.bohren@gmail.com</a>> wrote:<br>
><br>
> On Tue, Jun 4, 2013 at 9:09 PM, Edwards, Shaun M. <<a href="mailto:sedwards@swri.org">sedwards@swri.org</a>> wrote:<br>
>><br>
>> Are you aware if anybody is currently using a cartesian trajectory (this<br>
>> definition or any other)?<br>
><br>
><br>
> There's an old repository of Stu's here:<br>
> <a href="https://bitbucket.org/sglaser/pr2_controllers_exp/src/02aa61c12b4b/jt_traj_controller_msgs/msg" target="_blank">https://bitbucket.org/sglaser/pr2_controllers_exp/src/02aa61c12b4b/jt_traj_controller_msgs/msg</a><br>
><br>
> I think at one point there was something similar in ros_control or moveit,<br>
> too. I put together a minimal cartesian trajectory message which was just an<br>
> array of Poses and Twists with associated durations, but I think it should<br>
> have some of the features that the aforementioned review describes. Other<br>
> than that I don't know.<br>
><br>
> --<br>
> Jonathan Bohren<br>
> Laboratory for Computational Sensing and Robotics<br>
> <a href="http://dscl.lcsr.jhu.edu/People/JonathanBohren" target="_blank">http://dscl.lcsr.jhu.edu/People/JonathanBohren</a><br>
><br>
><br>
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</div></div></blockquote></div><br></div></div><br clear="all"><br>-- <br>Adolfo Rodríguez Tsouroukdissian<br>Senior robotics engineer<br><a href="mailto:adolfo.rodriguez@pal-robotics.com" target="_blank">adolfo.rodriguez@pal-robotics.com</a><br>
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