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 interface.
We are aware, that there have been multiple approaches to define something similar in the past, which is why we started off with a design document where we try to cover existing interfaces and we try to wrap up an interface proposal to turn it into an REP and a reference implementation at some point.
As we recently pushed our design document to GitHub and readthedocs, we would like to invite you as the ROS community to participate in discussing Cartesian interfaces. We think that it makes sense to generate an interface which is most suitable for everyone.
Just to be clear: We are currently talking about ROS as in not ROS 2. Obviously this doesn’t mean that the developed concepts and messages cannot be used and implemented inside of ROS 2, as well.
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.