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FollowJointTrajectory Usage

asked 2011-10-27 07:36:37 -0500

David Lu gravatar image

updated 2011-10-28 08:51:33 -0500

kwc gravatar image

On the PR2, the joint controller provides two different actions, JointTrajectoryAction and a the new FollowJointTrajectory. Is there any documentation on how to use this action? I've run both and seem to get the same trajectories with the different JointTolerances I've tried.

Running electric on a PR2. Relevant links: control_msgs, FollowJointTrajectoryAction.

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answered 2011-11-04 12:52:28 -0500

Sachin Chitta gravatar image

See my answer to this question: http://answers.ros.org/question/2765/where-is-the-node-for-follow_joint_trajectory

We'll try and put up some Wiki documentation soon.

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The other useful bit that I got from Stu offline is "The short version is that FollowJointTrajectory adds tolerances that, when violated, cause the trajectory to abort"
David Lu gravatar imageDavid Lu ( 2011-11-06 06:41:46 -0500 )edit
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answered 2011-11-04 05:49:20 -0500

VN gravatar image

Can anyone tell me how to use FollowJointTrajectoryAction? Where is the ros node implementing FollowJointTrajectoryAction server sits?

And why move_arm always look for FollowJointTrajectoryAction message type even if I put the controller action name in the variable "controller_action_name (string, default: /r_arm_controller/joint_trajectory_action/)" as "arm_controller/joint_trajectory_action"??

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Not an answer.
Martin Günther gravatar imageMartin Günther ( 2011-11-06 07:11:55 -0500 )edit

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Asked: 2011-10-27 07:36:37 -0500

Seen: 3,245 times

Last updated: Nov 04 '11