https://github.com/universalrobots/universal_robots_ros_cartesian_control_msgs

Message definition for Cartesian trajectories.
https://github.com/universalrobots/universal_robots_ros_cartesian_control_msgs

Last synced: 6 months ago
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Message definition for Cartesian trajectories.

• Host: GitHub
• URL: https://github.com/universalrobots/universal_robots_ros_cartesian_control_msgs
• Owner: UniversalRobots
• License: apache-2.0
• Created: 2021-05-20T10:39:27.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2024-04-09T08:12:54.000Z (over 1 year ago)
• Last Synced: 2025-06-02T00:44:00.458Z (7 months ago)
• Language: CMake
• Size: 98.6 KB
• Stars: 8
• Watchers: 6
• Forks: 3
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • License: LICENSE

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README

          
# Cartesian Control Messages

A new take on Cartesian trajectory control in ROS.

Cartesian trajectory definitions have long been a complicated and highly-discussed topic in ROS.

This set of messages and definitions is the result of an in-depth investigation

of current approaches in both academia and industry.

While its arguably impossible to cover every detail, to meet all requirements

of such an interface, the goal is to nevertheless provide a consensus that

covers _most_ use cases and let's the community start using Cartesian trajectory control in ROS.

Please have a look at the [design document][1] for further details on decisions and rationals.

[1]: https://github.com/fzi-forschungszentrum-informatik/fzi_robot_interface_proposal

## Acknowledgement

Developed in collaboration between:

[](https://www.universal-robots.com/)   and  

[](https://www.fzi.de).

***



  



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  

More information: rosin-project.eu

  

This project has received funding from the European Union’s Horizon 2020  

research and innovation programme under grant agreement no. 732287.