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Package Summary
industrial_trajectory_filters
- Author: Shaun Edwards
- License: BSD
- Source: svn https://swri-ros-pkg.googlecode.com/svn/branches/groovy/industrial_experimental
Package Summary
ROS Industrial libraries/plugins for filtering trajectories.
This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <sedwards AT swri DOT org>
- Author: Shaun Edwards <sedwards AT swri DOT org>, Jorge Nicho <jnicho AT swri DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/industrial_core/issues
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: hydro)
Package Summary
ROS Industrial libraries/plugins for filtering trajectories.
This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <sedwards AT swri DOT org>
- Author: Shaun Edwards <sedwards AT swri DOT org>, Jorge Nicho <jnicho AT swri DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/industrial_core/issues
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: indigo)
Package Summary
ROS Industrial libraries/plugins for filtering trajectories.
This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <sedwards AT swri DOT org>
- Author: Shaun Edwards <sedwards AT swri DOT org>, Jorge Nicho <jnicho AT swri DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/industrial_core/issues
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: jade)
Package Summary
ROS Industrial libraries/plugins for filtering trajectories.
This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <shaun.edwards AT gmail DOT com>
- Author: Shaun Edwards, Jorge Nicho <jnicho AT swri DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/industrial_core/issues
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: kinetic)
Package Summary
ROS Industrial libraries/plugins for filtering trajectories.
This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.
- Maintainer status: maintained
- Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>, Levi Armstrong (Southwest Research Institute) <levi.armstrong AT swri DOT org>
- Author: Shaun Edwards, Jorge Nicho <jnicho AT swri DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/industrial_core/issues
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: melodic)
Package Summary
ROS Industrial libraries/plugins for filtering trajectories.
This package is part of the ROS Industrial program and contains libraries and moveit plugins for filtering robot trajectories.
- Maintainer status: maintained
- Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>, Levi Armstrong (Southwest Research Institute) <levi.armstrong AT swri DOT org>
- Author: Shaun Edwards, Jorge Nicho <jnicho AT swri DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros-industrial/industrial_core/issues
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: melodic)
Contents
Overview
This package contains methods for filtering robot trajectories. These filters are focused on the needs of industrial robots and applications.
The filters are wrapped in arm navigation style filterer plug-ins for the trajectory filter server node.
The filters are wrapped in MoveIt style planning request adapters. An adapter class is also implemented to easy porting of pre-MoveIt filter plugins (see trajectory filter server node)
Filters
uniform_sample_filter
Re-samples a planned trajectory with a uniform time step in between points. Re-sampling is done using a higher order spline smoother in joint space. The filter expects fully defined trajectories (position, velocity, acceleration).Parameters
sample_duration (float)- step size in seconds between way-points.
n_point_filter
Reduces trajectory to be <=N total points. This reduction process uses existing points (re-sampling and interpolation are not done). This filter works best with a uniformly sampled trajectory, but this is not required. If the trajectory is less than N points, no filtering is performed.Parameters
n_points (float)- maximum number of waypoints (must be >=2)
Applying Filters
The filters can be applied directly in source code using filter plugins or they can be loaded to a trajectory filter server node using the yaml specification. This is a typical filter yaml file:
service_type: FilterJointTrajectoryWithConstraints
filter_chain:
# Uniformly sample motion (creates smooth motion on controller)
-
name: uniform_sample_filter
type: IndustrialUniformSampleFilterJointTrajectoryWithConstraints
params: {sample_duration: 0.010}
# Limit the number of points sent to the controller
-
name: n_point_filter
type: IndustrialNPointFilterJointTrajectoryWithConstraints
params: {n_points: 10}In order to use your new Planning Request Adapter inside a moveit generated package do the following:
Add your filter to the beginning of the planning_adapters list(typically in a launch file) as follows:
<arg name="planning_adapters" value=" my_filter_package/MyFilter default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints" />
- In the same launch file, declare any ros parameters used by your filter as shown below:
<param name="my_filter_parameter" value="40" />
Tutorials
For more detailed examples see the tutorials page.
Contact us/Technical support
For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.
Reporting bugs
Use GitHub to report bugs or submit feature requests. [View active issues]
