Package Summary
A Cartesian trajectory controller with multiple hardware interface support
- Maintainer status: developed
- Maintainer: Stefan Scherzinger <scherzin AT fzi DOT de>, Felix Exner <exner AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git (branch: main)
Package Summary
A Cartesian trajectory controller with multiple hardware interface support
- Maintainer status: developed
- Maintainer: Stefan Scherzinger <scherzin AT fzi DOT de>, Felix Exner <exner AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git (branch: main)
Contents
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