Cartesian task ROS API

Contents:

Services

get_cartesian_task_properties

Returns all cartesian task-specific properties.

Service description

Name

get_cartesian_task_properties

Type

cartesian_interface::GetCartesianTaskInfo

Request

–

Response

 
string  base_link
string  distal_link
string  control_mode        # either "Position" or "Velocity"
string  state               # either "Reaching" or "Online"
bool    use_local_subtasks
float64 max_vel_lin
float64 max_vel_ang
float64 max_acc_lin
float64 max_acc_ang

set_control_mode

Allows to set the task control mode.

Service description

Name

set_base_link

Type

cartesian_interface::SetControlMode

Request

 
string control_mode

Response

 
bool success
string message

The control_mode field is a case-insensitive string which can take the following values: position, or velocity.

set_safety_limits

Allows to set the task safety limits which are applied to reference signals, in terms of maximum velocity and acceleration for both the linear and angular component of the task.

Service description

Name

set_base_link

Type

cartesian_interface::SetSafetyLimits

Request

 
float32 max_vel_lin
float32 max_vel_ang
float32 max_acc_lin
float32 max_acc_ang

Response

 
bool success
string message

Only values which are greater than zero are actually taken into consideration. Non-positive values are discarded.

Topics

reference (input)

Input topic for user-provided Cartesian references. Type: geometry_msgs/PoseStamped.

velocity_reference (input)

Input topic for user-provided Cartesian velocity references. Type: geometry_msgs/TwistStamped.

current_reference (output)

Output topic containing the most recent Cartesian reference tracked by the controller. Type: geometry_msgs/PoseStamped.

current_velocity_reference (output)

Output topic containing the most recent Cartesian velocity reference tracked by the controller. Type: geometry_msgs/TwistStamped.

Actions

reach

This action allows to command a reaching motion to a final frame in a given time, possibly passing through user-defined waypoints.

Action description

Name

reach

Type

cartesian_interface::ReachPoseAction

Goal

 
geometry_msgs/Pose[] frames
float32[] time
bool incremental
This field allows to specify waypoints along with their respective times
(absolute, w.r.t. trajectory start). The incremental flag, if set to true,
allows to specify waypoints w.r.t. the starting pose of the robot.

Feedback

 
geometry_msgs/PoseStamped current_reference
geometry_msgs/PoseStamped current_pose
int32 current_segment_id # waypoint currently being processed

Result

 
geometry_msgs/Pose final_frame
float32 position_error_norm
float32 orientation_error_angle