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This package brings mechanisms for Cartesian control to the ROS-control framework.


New functionality (colored):

Colored: New contributions from this package or related


As opposed to joint-based control, Cartesian control is often more intuitive for programmers to specify how a tool (robot end-effector) should move in their application. For instance, gluing, grinding, polishing and all sorts of other surface-related tasks benefit from a straight-forward task formulation with Cartesian coordinates.

Currently, there is no support of Cartesian control in ROS. Yet, the number of OEMs, whose drivers support Cartesian control interfaces is growing. This set of packages aims at filling this gap and get you started with Cartesian control.

Major features at a glance

2022-11-26 12:59