[Rock-dev] generating trajectories for Trajectory Follower component
Martin.Azkarate at esa.int
Martin.Azkarate at esa.int
Tue Sep 13 17:46:56 CEST 2016
Thanks a lot guys, this is very helpful!
Janosch, tr.speed is in m/s? negative speeds set the "forward direction"
towards the back of the robot then?
Raúl, I was already looking at those components for later integration
indeed, I have seen that motion_planning_libraries can output trajectories
both in Spline or Waypoints format, so going back to my question in the
other email which component would you recommend for the execution of the
trajectory: trajectory_follower or waypoint_navigation?
Cheers,
Martin
Martin Azkarate
TEC-MMA
HE Space for ESA - European Space Agency
Space Automation and Robotics Engineer
ESTEC - European Space research and TEchnology Centre
Keplerlaan 1, 2201 AZ Noordwijk
The Netherlands
Martin.Azkarate at esa.int | www.esa.int
Tel +31 71 565 3480 | Mob +31 650 625 564
From: "Raul Dominguez" <Raul.Dominguez at dfki.de>
To: rock-dev at dfki.de
Date: 13/09/2016 17:07
Subject: Re: [Rock-dev] generating trajectories for Trajectory
Follower component
Sent by: rock-dev-bounces at dfki.de
Hi,
Between the motion_planning_libraries component and the slam component you
would also need to include a traversability map generator to generate from
the map a traversability map on which the trajectory can be generated.
https://github.com/rock-planning/planning-orogen-traversability
Kind regards,
Raúl
On 13.09.2016 17:00, Raul Dominguez wrote:
Hello Martin,
To generate a trajectory given a goal point you can use the following
component:
github.com:/rock-planning/planning-orogen-motion_planning_libraries
For that you will also need to have a map. Maybe using this other
component:
github.com:/rock-slam/slam-orogen-graph_slam.git
I hope this helps!
Kind regards,
Raúl
On 13.09.2016 16:12, Martin.Azkarate at esa.int wrote:
In principle cpp for later integration on another component.
But check another email that I just sent first.
Thanks a lot!
Martin Azkarate
TEC-MMA
HE Space for ESA - European Space Agency
Space Automation and Robotics Engineer
ESTEC - European Space research and TEchnology Centre
Keplerlaan 1, 2201 AZ Noordwijk
The Netherlands
Martin.Azkarate at esa.int | www.esa.int
Tel +31 71 565 3480 | Mob +31 650 625 564
From: "Janosch Machowinski" <Janosch.Machowinski at dfki.de>
To: rock-dev at dfki.de
Date: 13/09/2016 15:32
Subject: Re: [Rock-dev] generating trajectories for Trajectory
Follower component
Sent by: rock-dev-bounces at dfki.de
Ruby or cpp ?
Greetings
Janosch
Am 13.09.2016 um 15:18 schrieb Martin.Azkarate at esa.int:
Hi there,
I am trying to use the trajectory_follower component but the trajectory
data type that needs to be fed to the input port is based on Spline which
at the same time is based on SISL Curve which I am not very familiar with.
Does anybody have an example code of how to generate a trajectory data
type of this kind?
Thanks,
Martin
Martin Azkarate
TEC-MMA
HE Space for ESA - European Space Agency
Space Automation and Robotics Engineer
ESTEC - European Space research and TEchnology Centre
Keplerlaan 1, 2201 AZ Noordwijk
The Netherlands
Martin.Azkarate at esa.int | www.esa.int
Tel +31 71 565 3480 | Mob +31 650 625 564
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Space Robotics
Besuchsadresse der Nebengeschäftsstelle:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Postadresse der Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 1
28359 Bremen, Germany
Tel.: +49 421 178 45-6617
Zentrale: +49 421 178 45-0
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: raul.dominguez at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
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