[ros-users] Manipulator control interface ?

[Herman Bruyninckx]

On Wed, 15 Sep 2010, Konrad Banachowicz wrote:

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

Could you explain in human terms what the design and the functionality is
that you have coded?

Thanks!

Herman

> 
> 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"
>
>       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> 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.
> vpradeep at willowgarage.com
> 
> 
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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>