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 <ruben.smits@mech.kuleuven.be>
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
<http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
EURON Coordinator (European Robotics Research Network) <http://www.euron.org>
Open Realtime Control Services <http://www.orocos.org>
Associate Editor JOSER <http://www.joser.org>, IJRR <http://www.ijrr.org>
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