I have written action server for orocos components. It's avalible in my repo at http://github.com/konradb3/RCPRG-ros-pkg . Pozdrawiam Konrad Banachowicz 2010/9/13 Vijay Pradeep > 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 > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >