Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add actionlib interface for basic Joint Group Command #60

Open
wants to merge 3 commits into
base: kinetic-devel
Choose a base branch
from
Open

Add actionlib interface for basic Joint Group Command #60

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
18f5504
Add JointGroupCommand action
egordon Jun 4, 2021
c32f81d
Switch feedback to JointTrajectoryPoint, actually build the action file
egordon Jun 5, 2021
b42d29f
Made command type (i.e. position, velocity, effort) explicit
egordon Aug 12, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion control_msgs/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,8 @@ add_action_files(DIRECTORY action FILES
GripperCommand.action
JointTrajectory.action
PointHead.action
SingleJointPosition.action)
SingleJointPosition.action
JointGroupCommand.action)

add_message_files(DIRECTORY msg FILES
GripperCommand.msg
Expand Down
34 changes: 34 additions & 0 deletions control_msgs/action/JointGroupCommand.action
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
# Used in time-stamping the goal.
Header header

# Name list of the joints. You don't need to specify all joints of the
# robot. Joint names are case-sensitive.
string[] joint_names

# A command to the joints listed in joint_names.
# The order must be identical.
float64[] command
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Wold it make sense to make this command more explicit, e.g. trajectory_msgs/JointTrajectoryPoint. This would probably avoid future extensions and fields can be used explicitly (positions, velocities, accelerations).

Does this makes sense for you?

Copy link
Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Pros:

  • Could allow for dual command types (e.g. position with a max velocity/acceleration)
  • Explicit command is easier to interpret

Cons:

  • Doesn't allow for non-traditional joint commands (only position, velocity, acceleration, effort) outside of overloading a variable
  • Makes the coding in ros_controllers a bit more difficult (need to add logic that detects the command type and writes to the appropriate field)

I think the pros can outweigh the cons, so let me make the changes in both packages.


# Command duration / timeout
# Set to 0 for no timeout.
duration timeout
---
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 INVALID_JOINTS = -2
int32 OLD_HEADER_TIMESTAMP = -3

# Human readable description of the error code. Contains complementary
# information that is especially useful when execution fails, for instance:
# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
# command violates the controller limits).
# - INVALID_JOINTS: The mismatch between the expected controller joints
# and those provided in the goal.
string error_string

---
Header header
string[] joint_names
float64[] desired
trajectory_msgs/JointTrajectoryPoint actual