Package Summary
Defines a hardware interface to send Cartesian commands to a robot hardware and read Cartesian states.
- Maintainer status: developed
- Maintainer: Felix Exner <mauch AT fzi DOT de>, Stefan Scherzinger <scherzin 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
Defines a hardware interface to send Cartesian commands to a robot hardware and read Cartesian states.
- Maintainer status: developed
- Maintainer: Felix Exner <mauch AT fzi DOT de>, Stefan Scherzinger <scherzin AT fzi DOT de>
- Author:
- License: Apache-2.0
- Source: git https://github.com/UniversalRobots/Universal_Robots_ROS_controllers_cartesian.git (branch: main)
Contents
This package provides new hardware interfaces to implement Cartesian ROS control for robot manipulators.
Rationale
Several OEMs provide native Cartesian interfaces in their robot drivers. By offering new according hardware interfaces, implementers of ROS controllers get direct access to Cartesian buffers for reading and writing. Whether this provides advantages over the classic joint-based interfaces of course depends on personal use cases. The main difference is that in the Cartesian case the robot takes care of Inverse Kinematics.
Further information
For further information, especially how to integrate this into a RobotHW interface, see the Documentation on GitHub