Cross-post: Developing a Cartesian manipulator interface

[gavanderhoorn]

For those of you who filter their notification I’m cross-posting the post by @fmauch about Cartesian trajectory messages and action servers here.

This is an invitation to review the current proposal and to participate in the discussion.

There is a good chance the outcome of this effort will become the standard ROS message set and action definition for Cartesian interfaces in ros_control, so input on the proposed messages would be valued.

For more details, please refer to the post by @fmauch in General :

Developing a Cartesian manipulator interface

Hi all, Currently, we are investigating to create a Cartesian robot control interface similar to the FollowJointTrajectory interface which is broadly being used to control robot manipulators in joint space. Many manufacturers actually offer Cartesian interfaces manually, but there’s (to our knowledge) no standardized ROS interface to communicate with such an interface. However, in certain applications such as gluing or welding it would make a lot of sense to specify a Cartesian control interfa…