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Only released in EOL distros:  

orocos_controllers: fake_servo | joint_spline_trajectory_generator | oro_controllers_manager | oro_joint_state_publisher | oro_joint_trajectory_action

Package Summary

joint_spline_trajectory_generator

orocos_controllers: fake_servo | joint_spline_trajectory_generator | oro_controllers_manager | oro_joint_state_publisher | oro_joint_trajectory_action

Package Summary

joint_spline_trajectory_generator

Overview

This component is doing interpolation between two sequential points specified by trajectory_msgs/JointTrajectoryPoint message. It output oro_servo_msgs/Setpoints message containing position, velocity and acceleration for current interpolation point.

Interpolation type depend on which data was supplied by trajectory_msgs/JointTrajectoryPoint message:

position and time - linear interpolation.

position, velocity and time - cubic spline interpolation.

position, velocity, acceleration and time - quintic spline interpolation.

OROCOS API

Input ports

trajectory_point (trajectory_msgs/JointTrajectoryPoint)

cmdJntPos (vector<double>)

Output ports

dsrJntPos (vector<double>)

buffer_ready (bool)

Properties

number_of_joints (int)


2019-09-21 12:47