[ros-users] Manipulator control interface ?

[Vijay Pradeep]

Hi Herman,

Please see my response on a new thread "actionlib design
questions"<http://code.ros.org/lurker/message/20100913.203136.e65fb075.en.html>

Vijay

On Mon, Sep 13, 2010 at 4:50 AM, Herman Bruyninckx <
Herman.Bruyninckx at 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 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
>>
>>
>>
>>
>>
> --
>  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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>


-- 
Vijay Pradeep
Systems Engineer
Willow Garage, Inc.
 <tfoote at willowgarage.com>vpradeep at willowgarage.com
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