Does ros have some package that can provide linear and circular interpolation

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Linear interpolation for tool space movements is often accomplished by using the “Linear Segments with Parobolic Blends” (LSPB) method. Such a method is required to account for physical motor limitations such as instantaneous velocity changes. Refer to chapter five in this text in http://bayanbox.ir/view/8445052974254... . Page 177 introduces Linear Segments with Parobolic Blends. Use these equations in tool space (Cartesian xyz).

this is also a good trajectory generation source http://www-lar.deis.unibo.it/people/c...

Step 1) define goal points (i.e. taught points..) Step 2) solve LSPB along the vectors connecting the goal points (solving x, y, z components independently) which gives all the needed waypoints Step 3) convert each waypoint to joint space using IK.