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industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

ROS Industrial libraries/plugins for filtering trajectories.

This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.

industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

ROS Industrial libraries/plugins for filtering trajectories.

This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.

industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

ROS Industrial libraries/plugins for filtering trajectories.

This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.

industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

ROS Industrial libraries/plugins for filtering trajectories.

This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.

industrial_core: industrial_deprecated | industrial_msgs | industrial_robot_client | industrial_robot_simulator | industrial_trajectory_filters | industrial_utils | simple_message

Package Summary

ROS Industrial libraries/plugins for filtering trajectories.

This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.

Overview

This package contains methods for filtering robot trajectories. These filters are focused on the needs of industrial robots and applications.

The filters are wrapped in arm navigation style filterer plug-ins for the trajectory filter server node.

The filters are wrapped in MoveIt style planning request adapters. An adapter class is also implemented to easy porting of pre-MoveIt filter plugins (see trajectory filter server node)

Filters

uniform_sample_filter

Re-samples a planned trajectory with a uniform time step in between points. Re-sampling is done using a higher order spline smoother in joint space. The filter expects fully defined trajectories (position, velocity, acceleration).

Parameters

sample_duration (float)

n_point_filter

Reduces trajectory to be <=N total points. This reduction process uses existing points (re-sampling and interpolation are not done). This filter works best with a uniformly sampled trajectory, but this is not required. If the trajectory is less than N points, no filtering is performed.

Parameters

n_points (float)

Applying Filters

The filters can be applied directly in source code using filter plugins or they can be loaded to a trajectory filter server node using the yaml specification. This is a typical filter yaml file:

  service_type: FilterJointTrajectoryWithConstraints
  filter_chain:
# Uniformly sample motion (creates smooth motion on controller)
  -
    name: uniform_sample_filter
    type: IndustrialUniformSampleFilterJointTrajectoryWithConstraints
    params: {sample_duration: 0.010}
# Limit the number of points sent to the controller
  -
    name: n_point_filter
    type: IndustrialNPointFilterJointTrajectoryWithConstraints
    params: {n_points: 10}

In order to use your new Planning Request Adapter inside a moveit generated package do the following:

  1. Add your filter to the beginning of the planning_adapters list(typically in a launch file) as follows:

    • <arg name="planning_adapters" value="   my_filter_package/MyFilter
          default_planner_request_adapters/AddTimeParameterization
          default_planner_request_adapters/FixWorkspaceBounds
          default_planner_request_adapters/FixStartStateBounds
          default_planner_request_adapters/FixStartStateCollision
          default_planner_request_adapters/FixStartStatePathConstraints" />
  2. In the same launch file, declare any ros parameters used by your filter as shown below:
    • <param name="my_filter_parameter" value="40" />

Tutorials

For more detailed examples see the tutorials page.

Contact us/Technical support

For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.

Reporting bugs

Use GitHub to report bugs or submit feature requests. [View active issues]


2019-10-12 12:40