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trajectory_planner.orogen
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name "trajectory_planner"
import_types_from "base"
import_types_from "trajectory_plannerTypes.hpp"
using_library "trajectory_planner"
task_context "JointsInterpolatorTask" do
needs_configuration
runtime_states 'READY', 'WAITING_FOR_SPARSE_TRAJ', 'INTERPOLATING'
property("end_condition","int").
doc("End condition 0 for zero acc, 1 for zero vel")
property("cycle_time", "double").
doc("Cycle time of the joint interpolar send commands task")
property("speed_level", "int").
doc("Percentage of max attainable speed or acceleration to be used for caculation of synchronisation time")
property("acc_max", "double").
doc("Max acceleration value in rad/s2 or m/s2 for all joints")
property("robot_urdf_filepath", "std/string").
doc("Robot urdf filepath for extracting joint limits")
input_port("in_joints_traj", "base/JointsTrajectory").
doc("Receives the sparse trajectory points from the planner or other higher level task")
output_port("out_joints_traj2", "base/JointsTrajectory").
doc("Outputs sparse trajectory points")
output_port("out_joints_traj", "base/JointsTrajectory").
doc("Outputs interpolated trajectory points")
output_port("out_time_step_sparse", "int").
doc("Output port for total sparse points")
output_port("out_time_step_inter", "int").
doc("Output port for current time step")
port_driven :in_joints_traj
end
task_context "TrajGenOnlineTask" do
needs_configuration
runtime_states 'READY', 'GENERATING', 'FINISHED'
property("robot_urdf_filepath", "std/string").
doc("Robot urdf filepath for extracting joint limits")
property("use_actual_position_starting", "bool").
doc("True to indicate that actual position is to be used as first trajectory point")
property("single_trajectory_point", "bool").
doc("True to indicate only the next point is available and hence base JointCommands will be used")
input_port("in_joints_command", "base/commands/Joints").
doc("Input port to accept single joint command when single_trajectory_point is true")
input_port("in_joints_trajectory", "base/JointsTrajectory").
doc("Input port to accept sparse trajectory points if necessary else can be given directly to joints interpolator")
input_port("in_joints_state", "base/samples/Joints").
doc("Input port to accept joint state")
output_port("out_joints_state", "base/samples/Joints").
doc("Output port to display joint state")
output_port("out_joints_traj", "base/JointsTrajectory").
doc("Outputs sparse trajectory points")
periodic 0.1
end
task_context "TrajGenTask" do
needs_configuration
runtime_states 'READY', 'GENERATING', 'FINISHED'
property("number_points","int").
doc("no of sparse trajectory points minimum 3 maximum 10")
property("traj_type","bool").
doc("0 for random 1 for trajectory from file")
property("traj_filepath", "std/string").
doc("Robot trajectory filepath for extracting sparse joint trajectories")
property("robot_urdf_filepath", "std/string").
doc("Robot urdf filepath for extracting joint limits")
input_port("in_user_response", "bool").
doc("Input port to accept user response")
input_port("in_joints_state", "base/samples/Joints").
doc("Input port to accept joint state")
output_port("out_joints_state", "base/samples/Joints").
doc("Output port to display joint state")
output_port("out_joints_traj", "base/JointsTrajectory").
doc("Outputs sparse trajectory points")
periodic 3.0
end
task_context "TrajExtractTask" do
needs_configuration
runtime_states 'READY', 'EXTRACTING_TRAJ', 'WAITING_FOR_TRAJ'
property("robot_urdf_filepath", "std/string").
doc("Robot urdf filepath for extracting joint limits")
input_port("in_joints_traj","base/JointsTrajectory").
doc("Input port to accept user response")
output_port("out_joints_sample", "base/samples/Joints").
doc("Output port for joint samples")
output_port("out_time_step", "int").
doc("Output port for current time step")
periodic 0.005
end