ros_controllers_cartesian: cartesian_interface | cartesian_trajectory_controller | cartesian_trajectory_interpolation | twist_controller

Package Summary

A Cartesian trajectory controller with multiple hardware interface support

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 Documentation on GitHub

Wiki: cartesian_trajectory_controller (last edited 2021-06-24 11:53:10 by FelixMauch)