generate_trajectory

This ros package contains a server to generate a joint trajectory from a set of waypoints in joint space.
It requires the package joint_trajectory_generator from pr2_common_actions.

    sudo apt-get install ros-kinetic-pr2-common-actions 

usage example

The file trajectory_generator_server.cpp contains the main server to transform the list of waypoints into a joint trajectory.

    rosrun generate_trajectory trajectory_generator_server

A client node should send a request using the definition of the srv file GenerateTrajectory.srv.
Apart from the wayponts, also the maximum velocity and the maximum acceleration must be specified.

The file trajectory_generator_client.py contains an example with three joints and three waypoints. Run:

   rosrun generate_trajectory trajectory_generator_client.py 

You should see the resulting joint trajectory that follows the given waypoints.