Cartesian trajectory description: which message type?

asked 2014-11-07 05:43:13 -0600

arennuit gravatar image

updated 2014-11-07 06:11:04 -0600

Hi all,

I need to describe a cartesian trajectory using messages. This trajectory description should contain:

  • a reference frame
  • an array of waypoints

and each waypoint should contain:

  • a time
  • a cartesian position (i.e. a transform or say a frame)
  • a cartesian velocity
  • a cartesian acceleration

Now I thought this must already exist and I had a look in common_msgs. I have stumbled accross:

Is the ROS standard way to use trajectory_msgs/MultiDOFJointTrajectory? Or do you know if there is any other message which could better fit my needs?



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