Hi,<br>I&#39;m going to integrate my manipulator control code with ROS.<br>I chose OROCOS as low-level controller.<br>I have component for communication with hardware and servoing.<br>Now i created component publishing JointState.<br>

Everything works fine, but i don&#39;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. <br>I searched the documentation, but i don&#39;t found which interface should be  implemented by arm controller to by compatible with ROS manipulation code.<br>

<br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>