<> <> A simple Cartesian trajectory controller that uses the new Cartesian trajectory definition. == Rationale == This controller shall get you started with executing Cartesian trajectories on your robot. It implements a simple action server for FollowCartesianTrajectory. There are currently two ways of execution, depending on the interface provided by the robot. The table below highlights possible applications. || '''Hardware interface''' || '''Primary application''' || || `PoseCommandInterface` || You want spline interpolation in ROS but the OEMs driver to take care of inverse kinematics (IK). This variant requires the new Cartesian interfaces.|| || `PositionJointInterface` || You want spline interpolation in ROS and implement your own IK solver. The provided example uses the established Weighted Levenberg-Marquardt solver form KDL. This variant is compatible with current ROS-control so that you need not change your RobotHW abstraction.|| == Further information == For further information, especially how to integrate this into a RobotHW interface, see the [[https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian/blob/main/cartesian_trajectory_controller/README.md|Documentation on GitHub]] ## AUTOGENERATED DON'T DELETE ## CategoryPackage