[ros-users] Manipulator control interface ?

[Konrad Banachowicz]

I have written action server for orocos components.
It's avalible in my repo at http://github.com/konradb3/RCPRG-ros-pkg .

Pozdrawiam
Konrad Banachowicz


2010/9/13 Vijay Pradeep <vpradeep at willowgarage.com>

> 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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