TOPP
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quangounet
Can I apply this in cartesian space trajectory?
I am trying to apply on cartesian space trajectory for the robot tool to move at a constant speed. Can I apply for cartesian space?
TOPP is for time-parameterizing a path (finding the optimal velocity profile along the path), so it might be not relevant if your robot is supposed to move at constant speed.
Actually trapezoidal velocity is acceptable . i applied it on my robot joint trajectory but I want to apply it on Cartesian space trajectory. Kindly please help in the cartesian space.
@lakshmip001 It is possible with TOPP-RA. You will need to have a way to evaluate the Cartesian velocity and acceleration of the point of interest given any joint position and velocity the robot can have.
If you would kindly wait for a few days I am writing a short example showing how to do that.
update: hi @lakshmip001, please refer to this link https://hungpham2511.github.io/toppra/tutorials/2_can_linear_constraints.html for a short tutorial on how to handle Cartesian acceleration constraint.
If you find any issues, please do a head a create an issue at https://github.com/hungpham2511/toppra
@hungpham2511 Hi. I am able to implement on Cartesian space and able to get velocity profile in trapezoidal. Is there a way to adjust the constant velocity in the trapezoidal profile.
I keep getting this error most of the time [ INFO] [1534130671.626588120, 225.839000000]: Computing profiles Segmentation fault (core dumped)
Hi just for clarification , I came across moveit_topp package .Can I use it ?? Or should I use to TOPP-RA for better results?
Pls use toppra
-- Phạm Quang Cường www.ntu.edu.sg/home/cuong
On 13 Aug 2018, at 13:27, lakshmip001 [email protected] wrote:
Hi just for clarification , I came across moveit_topp package .Can I use it ?? Or should I use to TOPP-RA for better results?
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Hi, Thanks alot for your help. I will use TOPP-RA. I need to integrate TOPP with ROS Moveit Package. So, Can I know if I can use TOPP-RA inplace of TOPP for moveit_topp package?
Topp and toppra don t have the same api so I d suggest that you create a new moveit package. That would be very helpful, tks!
-- Phạm Quang Cường www.ntu.edu.sg/home/cuong
On 13 Aug 2018, at 13:56, lakshmip001 [email protected] wrote:
Hi, Thanks alot for your help. I will use TOPP-RA. I need to integrate TOPP with ROS Moveit Package. So, Can I know if I can use TOPP-RA inplace of TOPP for moveit_topp package?
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