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ros_controllers_cartesian: cartesian_interface | cartesian_trajectory_controller | cartesian_trajectory_interpolation | twist_controller

Package Summary

Metapackage for Cartesian ROS controllers

ros_controllers_cartesian: cartesian_interface | cartesian_trajectory_controller | cartesian_trajectory_interpolation | twist_controller

Package Summary

Metapackage for Cartesian ROS controllers

This package brings mechanisms for Cartesian control to the ROS-control framework.

Overview

New functionality (colored):

Colored: New contributions from this package or related

Rationale

As opposed to joint-based control, Cartesian control is often more intuitive for programmers to specify how a tool (robot end-effector) should move in their application. For instance, gluing, grinding, polishing and all sorts of other surface-related tasks benefit from a straight-forward task formulation with Cartesian coordinates.

Currently, there is no support of Cartesian control in ROS. Yet, the number of OEMs, whose drivers support Cartesian control interfaces is growing. This set of packages aims at filling this gap and get you started with Cartesian control.

Major features at a glance


2024-11-30 17:51