Banachowicz2¶
Proposed by Konrad Banachowicz, 2nd version
Part of http://wiki.ros.org/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05
Feature list¶
- Trajectory points consist of pose and twist
- Contains impedance for each trajectory point
- target_frame_id
- stiffness (6D)
- damping (6D)
- Contains path tolerance in
- translation
- orientation
- twist
- wrench
- Contains posture information to handle redundancies (for each effector???)
- Contains a nullspace impedance
Features required from hardware / driver¶
- Control interface
- Impedance control
Message definition¶
[CartesianTrajectory]
Express trajectory of frame target_frame_id in relation to frame header.frame_id .
Header header # stamp - trajectory start time, frame_id - trajectory reference frame
string target_frame_id # target controlled frame
CartesianTrajectoryPoint[] points
duration time_from_start
Pose pose
Twist twist
[CartesianImpedance]
# Parameters of spring-damper located between frame header.frame_id and frame target_frame_id.
Header header # stamp - trajectory start time, frame_id - spring-damper base frame
string target_frame_id # spring-damper end frame
CartesianImpedancePoint[] points
duration time_from_start
CartesianStiffness stiffness
Vector3 translational
Vector3 rotational
CartesianDamping damping
Vector3 translational
Vector3 rotational
[CartesianConstraints]
# Constraint the relation between header.frame_id and target_frame_id.
Header header # stamp - time of constraint activation
string target_frame_id
duration time_from_start # duration of constraint activation
TranslationConstraint translation
OrientationConstraint orientation
Twist twist
Wrench wrench
[CartesianTrajectoryGoal]
CartesianTrajectory[] trajectory
CartesianImpedance[] impedance
CartesianConstraints[] path_constraints # Tolerance for aborting the path
JointTrajectory[] posture # For determining the redundancy
JointImpedance[] nullspace_impedance