trajectory_utils

The purpose of this library is to have a wrapper around the KDL::Trajectories in order to simplify the usage and the interface. The repo contains also the ROS node trajectory_designed.

trajectory_designer

trajectory_designed is a ROS node which aim is to provide a simple tool to fast sketch Cartesian trajectories using interactive_markers in RVIZ:

The Cartesian trajectories available at the moment are:

• Minimum Jerk
• Semicircular in along the local planes XY, YZ and XZ

Subscribed Topics:

distal_link_goal(geometry_msgs::Pose): set a goal from outside

Published Topics:

distal_link_segments(trajectory_utils/segmentTrj): store the data of each trajectory segment

distal_link_trj(trajectory_utils/CartesianTrj): store the complete trajectory

distal_link_trj_viz(nav_msgs/Path): used for visualization purposes

Services:

distal_link_getTrj(std_srvs/Empty): request publication of actual trajectory and segments

Parameters:

~base_link(string): frame in which the distal_frame is controlled

~distal_link(string): controlled frame

~dT(double): trajectory sample

Required tf Transforms:

\base_link -> \distal_link usually given by the robot_state_publisher node

Messages:

Cartesian

CartesianTrj

segment

segmentTrj

Marker Menu Entries:

• MinJerk: creates a linear minimum jerk trajectory between the last pose and the actual pose of the marker of time T
• SemiCircular: creates a semicircular trajectory between the last pose and the actual pose of the marker of time T. Note that the actual pose of the marker has to lie on the local XY, YZ or ZX plane, if not the trajectory will not be created. The Reverse entry, if selected, change the path between the two possible semicircles
• Reset Marker Pose: sets the actual pose of the marker to the last one
• Reset Trajectory: permits to reset the Last added trajectory or All the added trajectories
• Goal: permits to move to the set external goal using a minimum jerk trajectory of time T (with the Move to Goal in T [sec] entry), to remove the goal (with the Remove Goal entry) or to set the actual pose of the marker (with the Set Marker Pose entry)
• Restart Marker: will reset all the stored trajectories and the marker pose to the actual pose of the distal_link (from tf)