Generate a Semi-Constrained Trajectory¶
In this exercise, we will be creating a Descartes trajectory from an array of cartesian poses. Each point will have rotational freedom about the z axis of the tool.
Locate exercise source file¶
Go to the main application source file located in
In the main program, locate the function call to
Go to the source file for that function located in the
Alternatively, in QTCreator, click on any part of the function and press “F2” to bring up that file.
Comment out the first line containing the
ROS_ERROR_STREAM( ...entry so that the function does not quit immediately.
Observe how the ‘createLemniscate()’ is invoked in order to generate all the poses of the tool for the trajectory. Its poses are then used to create the Descartes Trajectory.
Use the AxialSymmetric constructor to specify a point with rotational freedom about the z-axis.
The AxialSymmetricPt::FreeAxis::Z_AXIS enumeration constant allows you to specify Z as the free rotational axis
Find comment block that starts with
/* Fill Code:and complete as per described .
Replace every instance of
[ COMPLETE HERE ]accordingly.
Build Code and Run¶
CD into your catkin workspace and run
Then run the application launch file
roslaunch plan_and_run demo_run.launch