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end_effector_trajectory_controller package from auv_controllers repoauv_control_demos auv_control_msgs auv_controllers controller_common end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers |
Package Summary
| Tags | No category tags. |
| Version | 0.2.1 |
| 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 | 2025-06-03 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
End effector trajectory tracking controller for UVMS control
Additional Links
Maintainers
- Evan Palmer
Authors
- Evan Palmer
End Effector Trajectory Controller
The end effector trajectory controller interpolates an end effector motion plan for whole-body inverse kinematic control. The positions are interpolated using linear interpolation. The orientations are interpolated using spherical linear interpolation.
Plugin Library
end_effector_trajectory_controller/EndEffectorTrajectoryController
References
The input to this controller is a sequence of end effector poses.
Commands
The output of this controller is a sampled end effector pose.
Subscribers
- end_effector_trajectory_controller/trajectory [auv_control_msgs::msg::EndEffectorTrajectory]
Action Servers
- end_effector_trajectory_controller/follow_trajectory [auv_control_msgs::action::FollowEndEffectorTrajectory]
Publishers
- end_effector_trajectory_controller/status [auv_control_msgs::msg::EndEffectorTrajectoryControllerState]
CHANGELOG
Changelog for package controller_common
0.2.1 (2025-06-03)
0.2.0 (2025-05-03)
- Implements the end_effector_trajectory_controller
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
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 end_effector_trajectory_controller at Robotics Stack Exchange
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