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