The functionality and API is common with actionlib.
Only exception is that the constructor take RTT::TaskContext* instead of nodeHandle.
And there is additional method ActionServer::spinOnce() which do all communication and callbacks, it's should be called every TaskContext::updateHook().


Pozdrawiam
Konrad Banachowicz


2010/9/15 Herman Bruyninckx <Herman.Bruyninckx@mech.kuleuven.be>
On Wed, 15 Sep 2010, Konrad Banachowicz wrote:

I have written action server for orocos components.
It's avalible in my repo at http://github.com/konradb3/RCPRG-ros-pkg .

Could you explain in human terms what the design and the functionality is
that you have coded?

Thanks!


Herman


Pozdrawiam
Konrad Banachowicz


2010/9/13 Vijay Pradeep <vpradeep@willowgarage.com>
     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 <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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--
Vijay Pradeep
Systems Engineer
Willow Garage, Inc.
vpradeep@willowgarage.com


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--
 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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