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CMakeLists.txt
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README.md
README.md
 
 
joint_to_cartesian_controller_plugin.xml
joint_to_cartesian_controller_plugin.xml
 
 
package.xml
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README.md

Joint to Cartesian Controller

This adapter-controller basically transforms the joint trajectory commands from a connected joint-based controller to target pose commands for Cartesian controllers. It only works for controllers from the position_controllers family, e.g. position_controllers/JointTrajectoryController.

Example

Below is an example entry for a controller specific configuration using the ur10 robot.

my_joint_to_cartesian_controller:
    type: "cartesian_controllers/JointControllerAdapter"
    end_effector_link: "tool0"
    robot_base_link: "base_link"
    target_frame_topic: "target_frame"
    joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint

    joint_limits:
      shoulder_pan_joint:
        has_velocity_limits: true
        max_velocity: 3.15
        has_acceleration_limits: true
        max_acceleration: 10.0
      shoulder_lift_joint:
        has_velocity_limits: true
        max_velocity: 3.15
        has_acceleration_limits: true
        max_acceleration: 10.0
      elbow_joint:
        has_velocity_limits: true
        max_velocity: 3.15
        has_acceleration_limits: true
        max_acceleration: 10.0
      wrist_1_joint:
        has_velocity_limits: true
        max_velocity: 3.2
        has_acceleration_limits: true
        max_acceleration: 10.0
      wrist_2_joint:
        has_velocity_limits: true
        max_velocity: 3.2
        has_acceleration_limits: true
        max_acceleration: 10.0
      wrist_3_joint:
        has_velocity_limits: true
        max_velocity: 3.2
        has_acceleration_limits: true
        max_acceleration: 10.0

Joint limits are necessary, because this adapter implements an internal hardware interface and a controller manager to manage connected controllers. To adapt a joint-based controller to this adapter, you must specify and load the controller to the adapters namespace:

my_joint_to_cartesian_controller/joint_trajectory_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint

And in the launch file for the adapter:

        <node name="controller_spawner" pkg="controller_manager" type="spawner" args="--stopped my_joint_to_cartesian_controller" />

And for the connected joint-based controller:

        <group ns="my_joint_to_cartesian_controller" >
                <node name="controller_spawner" pkg="controller_manager" type="spawner" args="joint_trajectory_controller" />
        </group>

Note the usage of the proper namespace! It is useful to start this joint-based controller on loading, so that the adapter starts publishing valid poses upon activation.