arm_navigation: arm_kinematics_constraint_aware | arm_navigation_msgs | collision_map | collision_space | constraint_aware_spline_smoother | geometric_shapes | joint_normalization_filters | kinematics_base | kinematics_msgs | mapping_rviz_plugin | motion_planning_rviz_plugin | move_arm | ompl_ros_interface | planning_environment | planning_models | robot_self_filter | spline_smoother | trajectory_filter_server
Package Summary
This package contains a server that advertises a ROS service over which joint trajectories can be filtered. Internally, it creates and uses a chain of filters that can filter joint trajectories. The filters are configured using a yaml configuration file.
- Author: Sachin Chitta
- License: BSD
- Repository: wg-kforge
- Source: hg https://kforge.ros.org/armnavigation/armnavigation
Contents
Tutorials
The tutorials for this package are in the trajectory_filters stack tutorials
ROS API
API Stability
- The ROS API is REVIEWED but UNSTABLE
ROS Parameters
Parameters
~service_type (string, default: FilterJointTrajectory)- See YAML Configuration for more details.
Services offered
Services
filter_trajectory (motion_planning_msgs/FilterJointTrajectory)- This is the service offered if service_type is set to FilterJointTrajectory.
- This is the service offered if service_type is set to FilterJointTrajectoryWithConstraints.
YAML Configuration
The yaml based configuration for this server is specified on the YAML Configuration page.