[ros-users] Manipulator control interface ?

Ruben Smits ruben.smits at mech.kuleuven.be
Mon Sep 13 11:48:51 UTC 2010

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_ros orocos_toolchain_ros

It contains a seamless integration of the dataflow between both frameworks.


> Pozdrawiam
> Konrad Banachowicz
> 2010/9/13 Ruben Smits
> <ruben.smits at mech.kuleuven.be<mailto:ruben.smits at 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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