From 3cace520676c770382c5f98a96471ae7ee4a8b56 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 16 Sep 2020 10:36:41 +0200 Subject: [PATCH] Used controlled_frame instead of tcp_frame as name --- source/proposal/index.rst | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/source/proposal/index.rst b/source/proposal/index.rst index ec13bb9..9f9366e 100644 --- a/source/proposal/index.rst +++ b/source/proposal/index.rst @@ -178,11 +178,11 @@ trajectory object consisting of multiple trajectory points. # header.frame_id is the frame in which all data from CartesianTrajectoryPoint[] is given Header header CartesianTrajectoryPoint[] points - string tcp_frame + string controlled_frame At this stage we include a time stamp through the ``header`` message. Note that ``header`` also includes a ``frame_id``, which is the assumed reference frame for the data given in ``points``. -The link that shall follow the trajectory is specified with ``tcp_frame``. +The link that shall follow the trajectory is specified with ``controlled_frame``. Some of the existing proposals use a ``geometry_msgs/Pose`` field to express the points' reference frame. However, we think that using names as identifiers makes this interface more versatile, because it delegates possible lookups to where this information is easier available. @@ -238,7 +238,7 @@ propose an action interface for executing Cartesian trajectories. --- Header header - string tcp_frame + string controlled_frame CartesianTrajectoryPoint desired CartesianTrajectoryPoint actual CartesianTolerance error @@ -270,7 +270,7 @@ As elaborated in the previous section we propose the following action interface CartesianPosture posture string [] posture_joint_names float64[] posture_joint_values - string tcp_frame + string controlled_frame CartesianTolerance path_tolerance geometry_msgs/Vector3 position_error geometry_msgs/Vector3 orientation_error @@ -301,7 +301,7 @@ As elaborated in the previous section we propose the following action interface --- Header header - string tcp_frame + string controlled_frame CartesianTrajectoryPoint desired duration time_from_start geometry_msgs/Pose pose