I have written action server for orocos components.<br>It's avalible in my repo at <a href="http://github.com/konradb3/RCPRG-ros-pkg">http://github.com/konradb3/RCPRG-ros-pkg</a> .<br><br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>
<br><br><div class="gmail_quote">2010/9/13 Vijay Pradeep <span dir="ltr"><<a href="mailto:vpradeep@willowgarage.com">vpradeep@willowgarage.com</a>></span><br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi Herman,<br><br>Please see my response on a new thread <a href="http://code.ros.org/lurker/message/20100913.203136.e65fb075.en.html" target="_blank">"actionlib design questions"</a><br><br>Vijay<br><br><div class="gmail_quote">
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On Mon, Sep 13, 2010 at 4:50 AM, Herman Bruyninckx <span dir="ltr"><<a href="mailto:Herman.Bruyninckx@mech.kuleuven.be" target="_blank">Herman.Bruyninckx@mech.kuleuven.be</a>></span> wrote:<br></div></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
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<div>On Mon, 13 Sep 2010, Konrad Banachowicz wrote:<br>
<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
thx,<br>
I think that implementation of joint_trajectory_action in orocos would be safer<br>
solution, but is it possible to use action interface from orocos ?<br>
</blockquote>
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This raises an important _design_ discussion: the action interface is in<br>
many ways not a good design for coordination of activities. For example,<br>
the documentation on line gives examples of a "template" for a state<br>
machine that contains lots of "wrong" states (i.e., some states should be<br>
the same, but they have been giving wrong names) and (hence) misses<br>
appropriate state transitions.<br>
<br>
It could be nice to redesign ROS' action interface together with the FSM<br>
support in Orocos....<br>
<br>
Herman<div><div></div><div><br>
<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>
Pozdrawiam<br>
Konrad Banachowicz<br>
<br>
<br>
2010/9/13 Ruben Smits <<a href="mailto:ruben.smits@mech.kuleuven.be" target="_blank">ruben.smits@mech.kuleuven.be</a>><br>
On Monday 13 September 2010 12:51:42 Konrad Banachowicz wrote:<br>
> Hi,<br>
> I'm going to integrate my manipulator control code with ROS.<br>
> I chose OROCOS as low-level controller.<br>
> I have component for communication with hardware and servoing.<br>
> Now i created component publishing JointState.<br>
> Everything works fine, but i don't know which interface should i chose<br>
for<br>
> control. I want to do trajectory execution inside OROCOS, because servo<br>
> controller require to get new set point within 1ms. I searched the<br>
> documentation, but i don't found which interface should be implemented<br>
by<br>
> arm controller to by compatible with ROS manipulation code.<br>
<br>
I think you should look at the interface of the<br>
<a href="http://www.ros.org/wiki/robot_mechanism_controllers" target="_blank">http://www.ros.org/wiki/robot_mechanism_controllers</a><br>
and their opposite the <a href="http://www.ros.org/wiki/joint_trajectory_action" target="_blank">http://www.ros.org/wiki/joint_trajectory_action</a><br>
<br>
If you implement the interface to your orocos-based controller as such that<br>
a<br>
joint_trajectory_action can be attached to it.<br>
<br>
Regards,<br>
Ruben<br>
<br>
<br>
<br>
<br>
</blockquote>
<br></div></div><font color="#888888">
--<br>
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group<br>
<<a href="http://people.mech.kuleuven.be/%7Ebruyninc" target="_blank">http://people.mech.kuleuven.be/~bruyninc</a>> Tel: +32 16 328056<br>
EURON Coordinator (European Robotics Research Network) <<a href="http://www.euron.org" target="_blank">http://www.euron.org</a>><br>
Open Realtime Control Services <<a href="http://www.orocos.org" target="_blank">http://www.orocos.org</a>><br>
Associate Editor JOSER <<a href="http://www.joser.org" target="_blank">http://www.joser.org</a>>, IJRR <<a href="http://www.ijrr.org" target="_blank">http://www.ijrr.org</a>></font><br></div></div><div class="im">
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<br></div></blockquote></div><font color="#888888"><br><br clear="all"><br>-- <br>Vijay Pradeep<br>
Systems Engineer<br>
Willow Garage, Inc.<br>
<a href="mailto:tfoote@willowgarage.com" target="_blank"><span></span></a><a href="mailto:vpradeep@willowgarage.com" target="_blank">vpradeep@willowgarage.com</a><br>
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