Documentation Status

arm_navigation: arm_kinematics_constraint_aware | arm_navigation_msgs | collision_map | collision_space | constraint_aware_spline_smoother | geometric_shapes | joint_normalization_filters | kinematics_base | kinematics_msgs | mapping_rviz_plugin | motion_planning_rviz_plugin | move_arm | ompl_ros_interface | planning_environment | planning_models | robot_self_filter | spline_smoother | trajectory_filter_server

trajectory_filters: constraint_aware_spline_smoother | joint_normalization_filters | spline_smoother | trajectory_filter_server

Package Summary

Documented

This package contains a server that advertises a ROS service over which joint trajectories can be filtered. Internally, it creates and uses a chain of filters that can filter joint trajectories. The filters are configured using a yaml configuration file.

arm_navigation: arm_kinematics_constraint_aware | arm_navigation_msgs | collision_map | collision_space | constraint_aware_spline_smoother | geometric_shapes | joint_normalization_filters | kinematics_base | kinematics_msgs | mapping_rviz_plugin | motion_planning_rviz_plugin | move_arm | ompl_ros_interface | planning_environment | planning_models | robot_self_filter | spline_smoother | trajectory_filter_server

Package Summary

Documented

This package contains a server that advertises a ROS service over which joint trajectories can be filtered. Internally, it creates and uses a chain of filters that can filter joint trajectories. The filters are configured using a yaml configuration file.

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Tutorials

The tutorials for this package are in the trajectory_filters stack tutorials

ROS API

API Stability

  • The ROS API is REVIEWED but UNSTABLE

ROS Parameters

Parameters

~service_type (string, default: FilterJointTrajectory)

Services offered

Services

filter_trajectory (motion_planning_msgs/FilterJointTrajectory)
  • This is the service offered if service_type is set to FilterJointTrajectory.
filter_trajectory_with_constraints (motion_planning_msgs/FilterJointTrajectoryWithConstraints)
  • This is the service offered if service_type is set to FilterJointTrajectoryWithConstraints.

YAML Configuration

The yaml based configuration for this server is specified on the YAML Configuration page.

Wiki: trajectory_filter_server (last edited 2010-03-13 12:36:38 by SachinChitta)