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>