The action interface internally use topics, but using it from inside of orocos component require reimplementation of actionlib using dataports instead of topics. am i right ? Pozdrawiam Konrad Banachowicz 2010/9/13 Ruben Smits > On Monday 13 September 2010 13:33:52 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 ? > > The action interface boils down to regular topics. So I do not see a reason > why it would not be possible. You can checkout Orocos-ROS integration of > topics and ports in the new orocos_toolchain_ros stack: > > svn co > http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/orocos_toolchain_rosorocos_toolchain_ros > > It contains a seamless integration of the dataflow between both frameworks. > > Ruben > > > Pozdrawiam > > Konrad Banachowicz > > > > > > 2010/9/13 Ruben Smits > > > > > > > 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 >