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

asked 2016-08-25 12:39:33 -0500

BrettHemes_ gravatar image

I was looking for some smoothing functionality for trajectory_msgs joint trajectories before writing my own and came across the trajectory_filters 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

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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

ahendrix gravatar image ahendrix  ( 2016-08-25 20:05:39 -0500 )edit

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answered 2016-08-26 00:47:06 -0500

130s gravatar image

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

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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)

BrettHemes_ gravatar image BrettHemes_  ( 2016-08-30 10:25:33 -0500 )edit

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

BrettHemes_ gravatar image BrettHemes_  ( 2016-08-30 11:09:52 -0500 )edit

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Asked: 2016-08-25 12:39:33 -0500

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Last updated: Aug 26 '16