The functionality and API is common with actionlib.<br>Only exception is that the constructor take RTT::TaskContext* instead of nodeHandle.<br>And there is additional method ActionServer::spinOnce() which do all communication and callbacks, it's should be called every TaskContext::updateHook().<br>
<br><br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>
<br><br><div class="gmail_quote">2010/9/15 Herman Bruyninckx <span dir="ltr"><<a href="mailto:Herman.Bruyninckx@mech.kuleuven.be">Herman.Bruyninckx@mech.kuleuven.be</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;">
<div class="im">On Wed, 15 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;">
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" target="_blank">http://github.com/konradb3/RCPRG-ros-pkg</a> .<br>
</blockquote>
<br></div>
Could you explain in human terms what the design and the functionality is<br>
that you have coded?<br>
<br>
Thanks!<div><div></div><div class="h5"><br>
<br>
Herman<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 Vijay Pradeep <<a href="mailto:vpradeep@willowgarage.com" target="_blank">vpradeep@willowgarage.com</a>><br>
Hi Herman,<br>
<br>
Please see my response on a new thread "actionlib design<br>
questions"<br>
<br>
Vijay<br>
<br>
On Mon, Sep 13, 2010 at 4:50 AM, Herman Bruyninckx<br>
<<a href="mailto:Herman.Bruyninckx@mech.kuleuven.be" target="_blank">Herman.Bruyninckx@mech.kuleuven.be</a>> wrote:<br>
On Mon, 13 Sep 2010, Konrad Banachowicz wrote:<br>
<br>
thx,<br>
I think that implementation of<br>
joint_trajectory_action in orocos would be safer<br>
solution, but is it possible to use action interface<br>
from orocos ?<br>
<br>
<br>
This raises an important _design_ discussion: the action<br>
interface is in<br>
many ways not a good design for coordination of activities. For<br>
example,<br>
the documentation on line gives examples of a "template" for a<br>
state<br>
machine that contains lots of "wrong" states (i.e., some states<br>
should be<br>
the same, but they have been giving wrong names) and (hence)<br>
misses<br>
appropriate state transitions.<br>
<br>
It could be nice to redesign ROS' action interface together with<br>
the FSM<br>
support in Orocos....<br>
<br>
Herman<br>
<br>
<br>
<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<br>
Banachowicz wrote:<br>
> Hi,<br>
> I'm going to integrate my manipulator control code<br>
with ROS.<br>
> I chose OROCOS as low-level controller.<br>
> I have component for communication with hardware<br>
and servoing.<br>
> Now i created component publishing JointState.<br>
> Everything works fine, but i don't know which<br>
interface should i chose<br>
for<br>
> control. I want to do trajectory execution inside<br>
OROCOS, because servo<br>
> controller require to get new set point within<br>
1ms. I searched the<br>
> documentation, but i don't found which interface<br>
should be implemented<br>
by<br>
> arm controller to by compatible with ROS<br>
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<br>
<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<br>
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>
<br>
--<br>
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research<br>
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)<br>
<<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<br>
<<a href="http://www.ijrr.org" target="_blank">http://www.ijrr.org</a>><br>
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<br>
<br>
<br>
--<br>
Vijay Pradeep<br>
Systems Engineer<br>
Willow Garage, Inc.<br>
<a href="mailto:vpradeep@willowgarage.com" target="_blank">vpradeep@willowgarage.com</a><br>
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<br>
</blockquote>
<br>
--<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>></div></div><br>_______________________________________________<br>
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