[ros-users] Manipulator control interface ?

[Konrad Banachowicz]

The functionality and API is common with actionlib.
Only exception is that the constructor take RTT::TaskContext* instead of
nodeHandle.
And there is additional method ActionServer::spinOnce() which do all
communication and callbacks, it's should be called every
TaskContext::updateHook().


Pozdrawiam
Konrad Banachowicz


2010/9/15 Herman Bruyninckx <Herman.Bruyninckx at mech.kuleuven.be>

> 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<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.
>> vpradeep at willowgarage.com
>>
>>
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>>
>>
>>
>>
> --
>  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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