ricmua / ros_3d_attractor

A ROS2 node that generates force commands suitable for attracting a robotic effector to a point, line, or plane embedded in a 3D space

ROS2 3D attractor

This package implements a force field that functions like an attractor, to pull a robotic end effector toward some point, line, or plane in 3D space.

See the system model documentation for an overview of the equations that define the attractor. See the configuration documentation for information about configuring the parameters for the attractor. Also see the notes about system stability and relevant Force Dimension examples for further information.

Installation documentation forthcoming.

License

Copyright 2023 Neuromechatronics Lab, Carnegie Mellon University

Contributors:

• a. whit. ([e-mail])

This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.