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2013-08-28 12:17:42 -0600 commented answer How to specify dependencies with "foo_msgs" catkin packages

Doesn't the fix for this issue make this check redundant?

2013-08-28 11:33:35 -0600 answered a question How to specify dependencies with "foo_msgs" catkin packages

I believe the modern way of doing this is to add a dependency on ${catkin_EXPORTED_TARGETS}, as specified on this documentation page. It should look something like this:

find_package(catkin REQUIRED COMPONENTS foo_msgs)

add_dependencies(your_program ${catkin_EXPORTED_TARGETS})
add_dependencies(your_library ${catkin_EXPORTED_TARGETS})
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2013-03-08 12:38:18 -0600 answered a question Generating many trajectories and trajectory filter without ShortCutter

There are two packages containing a bunch of trajectory filters that you could use: spline_smoother and constraint_aware_spline_smoother. If you look in spline_smoother/default_plugins.xml, you can find a list of plugins that will just fill in timing information without doing any short-cutting. I don't recall the full details of each filter (there are many), but for a start you could try replacing your filter with this one: spline_smoother/CubicSplineVelocityScalerFilterJointTrajectoryWithConstraints.

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2013-01-30 09:03:37 -0600 commented answer Catkin and eclipse

Thanks for the information. I've updated the answer above to include --force-cmake.

2013-01-29 10:17:07 -0600 commented answer Catkin and eclipse

Do you see the .project and .cproject files in the build/ directory? These are what allow Eclipse to import the project, using File -> Import -> General -> Existing Projects into Workspace, and then select the build directory. It should then show you the auto-generated project which you can import.

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2013-01-23 06:39:16 -0600 commented answer Catkin and eclipse

This should work out of the box. Go to Project Properties -> C++ Include Paths, and make sure that all the required ROS include directories are present, like /opt/ros/groovy/include. Also try rebuilding the index if it's never been done before (Right click on project -> Index -> Rebuild).

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2013-01-22 13:15:13 -0600 answered a question Catkin and eclipse

Here is how I do this. Go to your workspace directory and run catkin_make with options to generate eclipse project files:

cd ~/catkin_ws
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles"

The project files will be generated in the build/ folder. Now source the workspace setup and start eclipse from the terminal:

source ~/catkin_ws/devel/setup.bash

This allows eclipse to get the correct environment to be able to build from within eclipse. Now import the project from the build/ folder. Eclipse provides a link named "Source directory" within the project so that you can edit the source code. Using this method, the indexer resolves all symbols correctly, and Eclipse is also able to build the workspace successfully.

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2011-03-15 07:58:30 -0600 answered a question Behavior of JointTrajectoryActionController with a single goal

The desired position trajectory will be a fifth-order polynomial, with start and end boundary conditions of 0 velocities and accelerations. Also called a "minimum jerk" movement in some communities.

If you omit accelerations, you'll get a cubic spline. If you also omit velocities, you get linear interpolation. This is some documentation I found about this:

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2011-03-13 15:42:00 -0600 answered a question Trajectory filters and joint limits over PI

There is at least one bug that I found in planning_environment related to this. Here is a link to the ticket and the patch:

Although the patch is for cturtle, a quick check confirms that the bug may still exist. Also, I do not use the standard trajectory filters in my use case, so your mileage may vary.

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