[ros-users] Manipulator control interface ?

Herman Bruyninckx Herman.Bruyninckx at mech.kuleuven.be
Mon Sep 13 11:56:47 UTC 2010

On Mon, 13 Sep 2010, Ruben Smits wrote:

> 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.

But not (yet) a seamless integration between the ROS "action lib" and the
Orocos FSMs.


> Ruben
>> 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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   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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