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<http://people.mech.kuleuven.be/%7Ebruyninc>>
>> 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>
>> _______________________________________________
>> ros-users mailing list
>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>>
>>
>> --
>> Vijay Pradeep
>> Systems Engineer
>> Willow Garage, Inc.
>> vpradeep@willowgarage.com
>>
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>>
>>
>>
> --
> K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group
> <http://people.mech.kuleuven.be/~bruyninc<http://people.mech.kuleuven.be/%7Ebruyninc>>
> 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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