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ROS-Industrial Special Project: Cartesian Path Planner
License: Apache License 2.0
This project forked from ros-industrial-consortium/descartes
ROS-Industrial Special Project: Cartesian Path Planner
License: Apache License 2.0
This issue captures design intent for Descartes support of sparse trajectories.
A sparse trajectory is defined as a series of joint/cartesian moves between joint/cartesian (all combinations) points. This is different from a standard Descartes trajectory in that a Descartes trajectory doesn't specify the motion between points. It assumes, for relatively dense paths, this motion is "good enough" Dense paths are not easily user editable or defined. As such a "sparse trajectory" is proposed that can be easily generated by a person. Such trajectories are planned to be used by Descartes in the following manner:
sparse_trajectory ->(interpolation)->dense_trajectory->descartes_planner->joint_path->joint_trajectory(ROS)
Below are high level plan details for implementation:
cart_trajectory_pt
and joint_trajectory_pt
types (all combinations)Open Issues:
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