This package contains a set of scripts useful to generate joint-space trajectories that follow a SVG shape.
It requires MoveIt for the robot inverse kinematics, and softMotion or cowriter-trajectory-generator for the SVG2traj conversion.
The publish_traj script uses the ROS hydro format for joint trajectory publishing.
scripts/place_paper.py: displays an interactive marker in RViz that is shaped as an A4 paper sheet. Used to visually place the SVG trajectory in space.
scripts/publish_traj: takes a SVG file as input and publishes it as a ROS topic (
/write_traj). Can also optionally display it in RViz.
scripts/sample_reachable.py: sample random points around the robot end-effector to see if they are reachable by IK.
scripts/write.py: reads a cartesian trajectory from ROS topic
write_trajand generate the corresponding joint-space trajectory.