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 ?

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
>