On Mon, Jan 28, 2013 at 5:10 PM, Edwards, Shaun M. wrote: > Adolfo,**** > > ** ** > > When I originally read your email, I thought it was coming out of Willow. > There are some aspects of the new arm path planning library (MoveIt) that > point to a revamped controller manager. Unfortunately, I don’t know any > more than you do. > Hey Shaun, MoveIt can use three ROS Services: [load|unload|switch]_controller in case a different controller configuration is necessary. My understanding is that this is an optional requirement. For triggering motions MoveIt uses the FollowJointTrajectory action. If you provide these interfaces, MoveIt will probably be happy. This is an example scenario where a generic manager would make it very easy to expose all of these interfaces. It is one of the most common examples I cite when explaining and justifying this work package. > **** > > ** ** > > As far as your architecture, I notices that you are utilizing the ROS > action interface. > The proposed architecture can use ROS actions, but does not require to. It's up to you. In fact all ROS dependencies exist to provide common interfaces to the outside world, but they are all in fact optional. You could even deploy a system without any ROS dependencies if you wanted to. > Is there any way to allow for a streaming interface. I’m thinking of a > visual servo application, where you need to close the loop and adjust an > actuator position based on some higher level information. The action > interface does not allow for this. > Yes!, the interface between the controllers and the manager is enforced, while interface between the controller and its users is not. This is already the case for the pr2_controller_manager, by the way. If you see the clients in the diagram, the client-specific code lives in the light-gray boxes. There goes whatever computation, configuration and communication policies you see fit. For example, you might choose to configure your controller from ROS parameters, Orocos properties, your custom legacy xml format, it's entirely up to you. The same applies to the interface you expose for controller commands. You might use actionlib, or topics, or something entirely different. Furthermore, there are certain controllers whose reference signal updates at rates that cannot be deterministically serviced by ROS topics. In such cases you can choose to use Orocos ports, shared memory, etc. Cheers, -- Adolfo Rodríguez Tsouroukdissian Senior robotics engineer adolfo.rodriguez@pal-robotics.com http://www.pal-robotics.com PAL ROBOTICS S.L c/ Pujades 77-79, 4º4ª 08005 Barcelona, Spain. Tel. +34.93.414.53.47 Fax.+34.93.209.11.09 Skype: adolfo.pal-robotics Facebook - Twitter- PAL Robotics YouTube Channel AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario. Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida. CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed. If you are not the intended recipient, you are hereby notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited. If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.