The functionality and API is common with actionlib.
Only exception is that the constructor take RTT::TaskContext* instead of nodeHandle.
And there is additional method ActionServer::spinOnce() which do all communication and callbacks, it's should be called every TaskContext::updateHook().
Pozdrawiam
Konrad Banachowicz
On Wed, 15 Sep 2010, Konrad Banachowicz wrote:Could you explain in human terms what the design and the functionality is
I have written action server for orocos components.
It's avalible in my repo at http://github.com/konradb3/RCPRG-ros-pkg .
that you have coded?
Thanks!
Herman
Pozdrawiam
Konrad Banachowicz
2010/9/13 Vijay Pradeep <vpradeep@willowgarage.com>
Hi Herman,
Please see my response on a new thread "actionlib design
questions"
Vijay
On Mon, Sep 13, 2010 at 4:50 AM, Herman Bruyninckx
<Herman.Bruyninckx@mech.kuleuven.be> wrote:
On Mon, 13 Sep 2010, Konrad Banachowicz wrote:
thx,
I think that implementation of
joint_trajectory_action in orocos would be safer
solution, but is it possible to use action interface
from orocos ?
This raises an important _design_ discussion: the action
interface is in
many ways not a good design for coordination of activities. For
example,
the documentation on line gives examples of a "template" for a
state
machine that contains lots of "wrong" states (i.e., some states
should be
the same, but they have been giving wrong names) and (hence)
misses
appropriate state transitions.
It could be nice to redesign ROS' action interface together with
the FSM
support in Orocos....
Herman
Pozdrawiam
Konrad Banachowicz
2010/9/13 Ruben Smits <ruben.smits@mech.kuleuven.be>
On Monday 13 September 2010 12:51:42 Konrad
Banachowicz wrote:
> Hi,
> I'm going to integrate my manipulator control code
with ROS.
> I chose OROCOS as low-level controller.
> I have component for communication with hardware
and servoing.
> Now i created component publishing JointState.
> Everything works fine, but i don't know which
interface should i chose
for
> control. I want to do trajectory execution inside
OROCOS, because servo
> controller require to get new set point within
1ms. I searched the
> documentation, but i don't found which interface
should be implemented
by
> arm controller to by compatible with ROS
manipulation code.
I think you should look at the interface of the
http://www.ros.org/wiki/robot_mechanism_controllers
and their opposite the
http://www.ros.org/wiki/joint_trajectory_action
If you implement the interface to your orocos-based
controller as such that
a
joint_trajectory_action can be attached to it.
Regards,
Ruben
--
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research
Group
<http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
EURON Coordinator (European Robotics Research Network)
<http://www.euron.org>
Open Realtime Control Services <http://www.orocos.org>
Associate Editor JOSER <http://www.joser.org>, IJRR
<http://www.ijrr.org>
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--
Vijay Pradeep
Systems Engineer
Willow Garage, Inc.
vpradeep@willowgarage.com
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--
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group
<http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
EURON Coordinator (European Robotics Research Network) <http://www.euron.org>
Open Realtime Control Services <http://www.orocos.org>
Associate Editor JOSER <http://www.joser.org>, IJRR <http://www.ijrr.org>
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