ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trajectory_controllers at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
trajectory_controllers package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator ik_solvers impedance_controller thruster_allocation_matrix_controller thruster_controllers topic_sensors trajectory_controllers velocity_controllers whole_body_controllers |
ROS Distro
|
Package Summary
| Version | 0.4.1 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control. |
| Checkout URI | https://github.com/robotic-decision-making-lab/auv_controllers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Trajectory controllers for underwater vehicles and manipulator systems
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
Trajectory Controllers
This package provides a collection of trajectory controllers, which interpolate a nominal trajectory for tracking by an inner-loop controller.
Cartesian Trajectory Controller
A cartesian trajectory controller that interpolates SE(3) motion plans for cartesian control. The positions are interpolated using linear interpolation, and the orientations are interpolated using spherical linear interpolation.
Plugin Library
trajectory_controller/TrajectoryController
References
The input to this controller is a sequence of SE(3) poses.
Commands
The output of this controller is a sampled pose.
Subscribers
- cartesian_trajectory_controller/trajectory [auv_control_msgs::msg::CartesianTrajectory]
Action Servers
- cartesian_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowCartesianTrajectory]
Publishers
- cartesian_trajectory_controller/status [auv_control_msgs::msg::CartesianTrajectoryControllerState]
CHANGELOG
Changelog for package trajectory_controllers
0.4.1 (2026-02-23)
- Addresses upstream deprecation of the
tf2_ros/buffer.handtf2_ros/transform_listener.hheaders.
0.4.0 (2025-08-01)
- Renames the package to be trajectory_controllers
- Renames the end_effector_trajectory_controller to be cartesian_trajectory_controller
0.3.3 (2025-07-29)
0.3.2 (2025-07-22)
- Replaces the deprecated
unlockAndPublishAPI withtry_publish
0.3.1 (2025-07-09)
0.3.0 (2025-06-07)
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.