Is there a (supported) replacement for the trajectory_filters for indigo+?

I was looking for some smoothing functionality for trajectorymsgs joint trajectories before writing my own and came across the trajectoryfilters stack. The functionality looks like it could be what I need but there are no versions past fuerte. Is there possibly a newer (supported) implementation somewhere?

Thanks, Brett

Asked by BrettHemes_ on 2016-08-25 12:39:33 UTC

Comments

That looks like it was part of arm_navigation stack, which was replaced by MoveIt. Perhaps you can find the functionality you're looking for in MoveIt

Asked by ahendrix on 2016-08-25 20:05:39 UTC

Answers

You can use industrial_trajectory_filters. It uses trajectory_msgs, and it doesn't depend on any industrial_* packages despite its name.

Asked by 130s on 2016-08-26 00:47:06 UTC

Comments

Yeah, I saw this but the filters in this package are pretty basic and not what I was looking for (i.e., smoothing and/or interpolation)

Asked by BrettHemes_ on 2016-08-30 10:25:33 UTC

There is a tutorial regarding converting arm_navigation filters to moveit planning request adapters here that I might try...

Asked by BrettHemes_ on 2016-08-30 11:09:52 UTC