The action interface internally use topics, but using it from inside of
orocos component require reimplementation of actionlib using dataports
instead of topics. am i right ?
Pozdrawiam
Konrad Banachowicz
2010/9/13 Ruben Smits <
ruben.smits@mech.kuleuven.be>
> On Monday 13 September 2010 13:33:52 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 ?
>
> The action interface boils down to regular topics. So I do not see a reason
> why it would not be possible. You can checkout Orocos-ROS integration of
> topics and ports in the new orocos_toolchain_ros stack:
>
> svn co
> http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/orocos_toolchain_rosorocos_toolchain_ros
>
> It contains a seamless integration of the dataflow between both frameworks.
>
> Ruben
>
> > Pozdrawiam
> > Konrad Banachowicz
> >
> >
> > 2010/9/13 Ruben Smits
> > <ruben.smits@mech.kuleuven.be<mailto: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
>
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