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trajectory_publisher

trajectory_publisher

Overview

Trajectory publisher publishes continous trajectories to the geometric controller

Parameters

  • /trajectory_publisher/initpos_x (default: 0.0)
  • /trajectory_publisher/initpos_y (default: 0.0)
  • /trajectory_publisher/initpos_z (default: 1.0)
  • /trajectory_publisher/updaterate (default: 0.01)
  • /trajectory_publisher/horizon (default: 1.0)
  • /trajectory_publisher/maxjerk (default: 10.0)
  • /trajectory_publisher/trajectory_type (default: 0)
  • /trajectory_publisher/number_of_primitives (default: 7)
  • /trajectory_publisher/shape_radius (default: 1.0)

Topics

The geometric controller publishes and subscribes the following topics.