Cartesian velocity controller - does that already exist?

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Hello,

I am in the process of building a cartesian space velocity controller (taking a desired cartesian trajectory as input and outputting a twist command). This is normally done by the navigation stack but my use case is not covered by this stack.

In my case: I am already given an explicit cartesian trajectory (i.e. a trajectory with timing, cartesian positions and velocities) which I want to closely follow and thus I'd like to control it using a PID. This is very close to what joint_trajectory_controller is doing except it would be done in cartesian space.

Is it something that already exists or should I code it in a custom-node of mine?

Regards,

Antoine.