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 >> 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 > > > Tel: +32 16 328056 > EURON Coordinator (European Robotics Research Network) < > http://www.euron.org> > Open Realtime Control Services > Associate Editor JOSER , IJRR > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Vijay Pradeep Systems Engineer Willow Garage, Inc. vpradeep@willowgarage.com