[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

joint_trajectory_generator action takes in a trajectory specified by a number of joint positions, and it generates a new smooth trajectory through these joint positions.

pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

joint_trajectory_generator action takes in a trajectory specified by a number of joint positions, and it generates a new smooth trajectory through these joint positions.

pr2_common_actions: joint_trajectory_action_tools | joint_trajectory_generator | pr2_arm_move_ik | pr2_common_action_msgs | pr2_tilt_laser_interface | pr2_tuck_arms_action

Package Summary

joint_trajectory_generator action takes in a trajectory specified by a number of joint positions, and it generates a new smooth trajectory through these joint positions.

trapezoid.png

joint_trajectory_generator

joint_trajectory_generator action takes in a trajectory specified by a number of joint positions, and it generates a new smooth trajectory through these joint positions. The smooth trajectory is created by limiting the joint velocity and acceleration to specified maximal values. The generated trajectory can have a longer duration than the input trajectory if the input trajectory could only be executed with joint velocities and accelerations that exceed the specified maximal values. The generated trajectory will however never have a shorter duration than the input trajectory.

The action sends its output to the joint_trajectory_action, to execute the smooth trajectory it generated.

Action Goal

joint_trajectory_generator/goal (pr2_controllers_msgs/JointTrajectoryGoal)

Action Result

joint_trajectory_generator/result (pr2_controllers_msgs/JointTrajectoryResult)

Actions Called

joint_trajectory_action (joint_trajectory_action)

Parameters

~max_acc (float64) ~/max_vel (float64) robot_description (string)


2019-09-14 12:50