Universal_Robots_ROS_controllers_cartesian

Universal_Robots_ROS_controllers_cartesian copied to clipboard

Changed the order of multiplication when calculating quaternion based…

2

… vel and acc This is done since the velocity and acceleration is given in the body-local reference frame. The math supporting this change, can be found [here](https://arxiv.org/abs/0811.2889v1). I will...

urmahp

Allow arbitrary frame for cartesian trajectory in cartesian_trajectory_controller

4

As far as I can see, the cartesian trajectory controller does not use the frame of the poses that are coming in. In our [example test_move script](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/scripts/test_move) we do not...

fmauch

The twist_controller has a `twist_gain` dynamic_reconfigure parameter, but that's not documented.

fmauch