Show EOL distros:
cob_driver: cob_arm | cob_base | cob_base_drive_chain | cob_battery | cob_camera_sensors | cob_canopen_motor | cob_forcetorque | cob_generic_can | cob_head_axis | cob_hokuyo | cob_joint_state_aggregator | cob_joy | cob_light | cob_manipulator | cob_oodl_scanner | cob_powercube_chain | cob_pseudo_joint_state_publisher | cob_relayboard | cob_sdh | cob_sick_s300 | cob_sound | cob_torso | cob_touch | cob_trajectory_controller | cob_tray | cob_tray_sensors | cob_undercarriage_ctrl
Package Summary
No API documentation
cob_trajectory_controller
- Author: Alexander Bubeck
- License: LGPL
- Repository: care-o-bot
- Source: git https://github.com/ipa320/cob_driver.git
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_electric)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: release_fuerte)
cob_driver: cob_base_drive_chain | cob_base_velocity_smoother | cob_cam3d_throttle | cob_camera_sensors | cob_canopen_motor | cob_collision_velocity_filter | cob_footprint_observer | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_s300 | cob_sound | cob_touch | cob_trajectory_controller | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: groovy)
cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control
Package Summary
Released
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: developed
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: LGPL
- Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)
cob_control: cob_base_velocity_smoother | cob_cartesian_controller | cob_collision_velocity_filter | cob_control_mode_adapter | cob_control_msgs | cob_footprint_observer | cob_frame_tracker | cob_model_identifier | cob_obstacle_distance | cob_omni_drive_controller | cob_trajectory_controller | cob_twist_controller
Package Summary
Released
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: maintained
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: indigo_release_candidate)
cob_control: cob_base_controller_utils | cob_base_velocity_smoother | cob_cartesian_controller | cob_collision_velocity_filter | cob_control_mode_adapter | cob_control_msgs | cob_footprint_observer | cob_frame_tracker | cob_hardware_emulation | cob_mecanum_controller | cob_model_identifier | cob_obstacle_distance | cob_omni_drive_controller | cob_trajectory_controller | cob_tricycle_controller | cob_twist_controller
Package Summary
Released
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: developed
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: kinetic_release_candidate)
cob_control: cob_base_controller_utils | cob_base_velocity_smoother | cob_cartesian_controller | cob_collision_velocity_filter | cob_control_mode_adapter | cob_control_msgs | cob_footprint_observer | cob_frame_tracker | cob_hardware_emulation | cob_mecanum_controller | cob_model_identifier | cob_obstacle_distance | cob_omni_drive_controller | cob_trajectory_controller | cob_tricycle_controller | cob_twist_controller
Package Summary
Released
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: maintained
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: melodic_release_candidate)
cob_control: cob_base_controller_utils | cob_base_velocity_smoother | cob_cartesian_controller | cob_collision_velocity_filter | cob_control_mode_adapter | cob_control_msgs | cob_footprint_observer | cob_frame_tracker | cob_hardware_emulation | cob_mecanum_controller | cob_model_identifier | cob_obstacle_distance | cob_omni_drive_controller | cob_trajectory_controller | cob_tricycle_controller | cob_twist_controller
Package Summary
Released
Documented
This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].
- Maintainer status: maintained
- Maintainer: Alexander Bubeck <aub AT ipa.fhg DOT de>
- Author: Alexander Bubeck
- License: Apache 2.0
- Source: git https://github.com/ipa320/cob_control.git (branch: melodic_release_candidate)
Contents
ROS API
cob_trajectory_controller
The cob_trajectory_controller node takes in trajectory_msgs/JointTrajectory messages and converts this to velocity commands to the hardware driver.Action Goal
joint_trajectory_action/goal (pr2_controllers_msgs/JointTrajectoryActionGoal)- The goal describes the trajectory for the robot to follow.
Action Result
joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)- empty
Action Feedback
joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)- empty
Published Topics
/joint_states (sensor_msgs/JointState)- Publishes the joint states of all modules.
- Publishes the velocity commands for the hardware driver.
Services
set_joint_velocity (cob_trajectory_controller/SetFloat)- Sets the maximum velocity in joint space.
- Sets the maximum acceleration in joint space.
Parameters
~ptp_vel (double, default: Required)- Maximum velocity in joint space.
- Maximum acceleration in joint space.
- Maximum allowed deviation from trajectory before controller is stopped.
