Release-3

Milestone 3 Release Notes - Cartesian Planner v1.0

Initial Release

This is the initial release of the cartesian_planner package, providing standalone Cartesian trajectory planning for Eddie arms using spline interpolation.

Features

• Spline Planner: Generates smooth trajectories using cubic splines in Cartesian space.
  • Action interface: cartesian_planner/action/PlanSpline
  • Maintains fixed end-effector orientation during translation.
  • Converts absolute waypoints to relative deltas for the arm controller.
• Raster Scan: Service to generate raster scan paths relative to a center pose.
  • Service interface: cartesian_planner/srv/PlanScanPath
  • Configurable width, height, and spacing.

Discussions

• Trajectory Planning

Contributors

• @ashleshp