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Only released in EOL distros:  


This package contains an implementation of an action that will attempt to follow desired trajectories in a collision free manner, i.e. the action will execute desired trajectories but abort them if there is a possibility of a collision. The action has a simple action client interface, similar to the interface for the JointTrajectoryAction. If the first point in the desired trajectory is far away from the current state of the robot, the action will create a trajectory segment between the current state of the robot and the first point in the trajectory. This trajectory segment will obey velocity and acceleration limits specified in the filter yaml configuration. The action will then attempt to follow the rest of the desired trajectory as best as it can without filtering it, i.e. the onus is on the user to provide a trajectory that the action will be able to follow.


API Stability

Action API

The collision_free_arm_trajectory_controller node provides an implementation of a SimpleActionServer (see actionlib documentation), that takes in goals containing pr2_controllers_msgs/JointTrajectoryAction messages. The recommended way to send goals to this node if you care about tracking their status is by using the SimpleActionClient. Please see actionlib documentation for more information. Also, see the tutorials for this package for a better idea on how to use the interface.

Action Subscribed Topics

[collision_free_arm_trajectory_action_]+group_name/goal (pr2_controllers_msgs/JointTrajectoryGoal)

[collision_free_arm_trajectory_action_]+group_name/cancel (actionlib_msgs/GoalID)

Action Published Topics

[collision_free_arm_trajectory_action_]+group_name/feedback (pr2_controllers_msgs/JointTrajectoryFeedback)

[collision_free_arm_trajectory_action_]+group_name/status (actionlib_msgs/GoalStatusArray) [collision_free_arm_trajectory_action_]+group_name/status (pr2_controllers_msgs/JointTrajectoryActionResult)


~group_name (string, default: "") ~traj_action_name (string, default: /r_arm_controller/joint_trajectory_action/)


get_execution_safety (planning_environment_msgs/GetJointTrajectoryValidity) get_robot_state (planning_environment_msgs/GetRobotState) filter_trajectory (motion_planning_msgs/FilterJointTrajectory)

Additional Configuration Details

Additional configuration details are provided on the collision_free_arm_trajectory_controller/Configuration page.

2020-03-28 12:33