Cartesian Planner

This package provides a standalone ROS 2 service that converts absolute end-effector targets into a sequence of waypoints using spherical linear interpolation (SLERP).

Node Overview

slerp_planner is a Python node (cartesian_planner/slerp_planner.py) that exposes a single ROS 2 service:

/plan_cartesian_path (cartesian_planner/srv/PlanCartesianPath)

The request contains:

• target_pose – absolute goal pose, expressed in any TF frame (default eddie_base_link).
• max_translation_step – maximum linear distance for each waypoint.
• max_rotation_step – maximum angular change per waypoint (radians).

The response returns:

• relative_waypoints – a list of incremental poses that can be sent directly to the Eddie arm ArmControl action (which expects relative offsets).
• success/message – status of the planning call.

Usage

Standalone

ros2 run cartesian_planner slerp_planner

!! Please try only in simulation !! :

ros2 launch eddie_ros eddie.launch.py use_sim:=true arm_select:=right

ros2 launch eddie_ros rviz.launch.py

please ensure branch : dsl/pick_place_fsm for Finite-State-Machine

ros2 run pick_place_fsm pick_place_fsm_mock

publish Pose

ros2 topic pub --once /perception/target_pose geometry_msgs/msg/PoseStamped "{header: {frame_id: eddie_base_link }, pose: {position: {x: 0, y: 0.5, z: 0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}"

The service returns the incremental waypoints; a client can feed these to the right_arm/arm_control action in sequence.