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Package Summary
cob_trajectory_controller
- Author: Alexander Bubeck
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_driver.git
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_electric)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_fuerte)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: groovy)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: developed
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: maintained
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: indigo_release_candidate)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: developed
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: kinetic_release_candidate)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: maintained
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: melodic_release_candidate)
Package Summary
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: maintained
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: melodic_release_candidate)
Contents
ROS API
cob_trajectory_controller
The cob_trajectory_controller node takes in trajectory_msgs/JointTrajectory messages and converts this to velocity commands to the hardware driver.Action Goal
joint_trajectory_action/goal (pr2_controllers_msgs/JointTrajectoryActionGoal)- The goal describes the trajectory for the robot to follow.
Action Result
joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)- empty
Action Feedback
joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)- empty
Published Topics
/joint_states (sensor_msgs/JointState)- Publishes the joint states of all modules.
- Publishes the velocity commands for the hardware driver.
Services
set_joint_velocity (cob_trajectory_controller/SetFloat)- Sets the maximum velocity in joint space.
- Sets the maximum acceleration in joint space.
Parameters
~ptp_vel (double, default: Required)- Maximum velocity in joint space.
- Maximum acceleration in joint space.
- Maximum allowed deviation from trajectory before controller is stopped.