[ros-users] Manipulator control interface ?

[Konrad Banachowicz]

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.

Pozdrawiam
Konrad Banachowicz
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