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

• Author: Konrad Banachowicz
• License: BSD
• Repository: RCPRG-ros-pkg
• Source: git https://github.com/RCPRG-ros-pkg/orocos_controllers.git

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)

• Next point for interpolation.

• Desired position of joint.

Output ports

dsrJntPos (vector<double>)

• New setpoint for servo.

• Indicate that component is ready to receive next interpolation point.

Properties

number_of_joints (int)

• Number of joints used in interpolation.