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[cob_cartesian_controller] Additional Cartesian motion primitives/actions #69

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fmessmer opened this issue Nov 21, 2015 · 0 comments

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fmessmer commented Nov 21, 2015 •

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Separating this from #52

Ideas for additional interfaces for commanding Cartesian paths:

move_circ (using 3 points(/poses?) to define the circular plane)
move_lin (using a list of waypoints, instead of just a single one - stopping at each point)
blending (not stopping at each waypoint)
move_csv (read Cartesian goal poses from a csv file)
move_math (i.e. provide a mathematical function f : t --> tf_frame, e.g. Rose

Maybe also make use of techniques used in https://github.com/ipa320/cobvid

@ipa-fxm-cm @fmessmer FYI

fmessmer added the enhancement label

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[cob_cartesian_controller] Re-work/fix cob_cartesian_controller #52

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fmessmer assigned MaChristoph

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