<div dir="ltr"><div class="gmail_extra"><br><div class="gmail_quote">On Wed, Jun 5, 2013 at 1:18 PM, Konrad Banachowicz <span dir="ltr"><<a href="mailto:konradb3@gmail.com" target="_blank">konradb3@gmail.com</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"><pre>[CartesianTrajectoryGoal]<br>Header header  # A stamp of 0 means "execute now"<br>



string[] effector_names<br><span></span>CartesianTrajectory[] trajectory<br>  PoseStamped tool  # The frame which is being controlled
<span></span>  CartesianTrajectoryPoint[] points
<span></span>    duration time_from_start
<span></span>    Pose pose
<span></span>    Twist twist<br>CartesianImpedance[] impedance<br>    TBD stiffness % cartesian stiffness <br>    TBD damping % damping ratio<br>CartesianTolerance[] path_tolerance  # Tolerance for aborting the path
<span></span>  float64 position
<span></span>  float64 orientation  # Permitted angular error
<span></span>  float64 velocity
<span></span>  float64 angular_velocity
<span></span>CartesianTolerance[] goal_tolerance  # Tolerance for when reaching the goal is considered successful<br>JointTrajectory posture  # For determining the redundancy<br>JointImpedance nullspace_impedance # TBD<br>

</pre></blockquote></div><br></div><div class="gmail_extra" style>I like where this version is going!</div><div class="gmail_extra" style><br></div><div class="gmail_extra" style>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?</div>

<div class="gmail_extra" style><br></div><div class="gmail_extra" style>[1] <a href="http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05">http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05</a></div>

<div class="gmail_extra" style><br></div><div class="gmail_extra">-j<br><br clear="all"><div><br></div>-- <br>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>

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