trajectory_msgs

Summary

trajectory_msgs
Version:

1.12.3
Description:

This package defines messages for defining robot trajectories. These messages are also the building blocks of most of the control_msgs actions.
Maintainers:
  • Tully Foote <tfoote AT osrfoundation DOT org>
Licenses:
  • BSD
Urls:
Authors:
  • Stuart Glaser
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
Exports:
  • <rosbag_migration_rule rule_file=”rules/JointTrajectoryPoint_Groovy2Hydro_08.10.2013.bmr”/>
  • <architecture_independent/>

Types

Message types

trajectory_msgs/JointTrajectoryPoint
Field:
  • positions[] (float64) –
  • velocities[] (float64) –
  • accelerations[] (float64) –
  • effort[] (float64) –
  • time_from_start (duration) –

Each trajectory point specifies either positions[, velocities[, accelerations]] or positions[, effort] for the trajectory to be executed. All specified values are in the same order as the joint names in JointTrajectory.msg

# Each trajectory point specifies either positions[, velocities[, accelerations]]
# or positions[, effort] for the trajectory to be executed.
# All specified values are in the same order as the joint names in JointTrajectory.msg

float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start
trajectory_msgs/MultiDOFJointTrajectoryPoint
Field:

Each multi-dof joint can specify a transform (up to 6 DOF)

# Each multi-dof joint can specify a transform (up to 6 DOF)
geometry_msgs/Transform[] transforms

# There can be a velocity specified for the origin of the joint 
geometry_msgs/Twist[] velocities

# There can be an acceleration specified for the origin of the joint 
geometry_msgs/Twist[] accelerations

duration time_from_start
trajectory_msgs/MultiDOFJointTrajectory
Field:

The header is used to specify the coordinate frame and the reference time for the trajectory durations

# The header is used to specify the coordinate frame and the reference time for the trajectory durations
Header header

# A representation of a multi-dof joint trajectory (each point is a transformation)
# Each point along the trajectory will include an array of positions/velocities/accelerations
# that has the same length as the array of joint names, and has the same order of joints as 
# the joint names array.

string[] joint_names
MultiDOFJointTrajectoryPoint[] points
trajectory_msgs/JointTrajectory
Field: 
Header header
string[] joint_names
JointTrajectoryPoint[] points