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Hi Sankar,
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by sending a new goal, I would expect the old goal to be cancelled, no?
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cheers,
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Jakob
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<br/>On September 16, 2013 at 10:30 AM Sankaranarayanan Natarajan <sankar.natarajan@dfki.de> wrote:
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HI Jakob,
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<br/> The RigidBodyState is fine except the goal_id is missing. The goal_id is used by a goalhandle to get information about the state of goal or to cancel or preempt the goal and stuff like that.. For example we send a goal and in the middle of the action one can cancel the current goal and set a new one... 
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<br/> Anyhow, i will try to find a way to use without any "goal_id"  :)
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<br/> Regards
<br/> -Sankar
<br/> On 09/16/2013 08:41 AM, Jakob Schwendner wrote:
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Hi Sankar,
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the RigidBodyState class has a sourceFrame and targetFrame field. So I guess that should be fine as the frame_id is concerned. As for the goal_id, I am not sure what it is for on the ROS side. To collect information from different sources? To handle out of order results? If I don't miss anything it should be ok to ignore in the rock/ros bridge. So, just generate an id on the ROS side.
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The problem with introducing new types is that it will make it much more difficult to plug in existing modules.
<br/>  And so far, I don't really see a compelling reason (but of course might have missed something).
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cheers,
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Jakob
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<br/> On September 15, 2013 at 7:56 PM Sankaranarayanan Natarajan
<a href="mailto:sankaranarayanan.natarajan@dfki.de"><sankaranarayanan.natarajan@dfki.de></a> wrote:
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Hi Jakob,
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frame_id -> so the module knows that the given pose is described w.r.t "frame_id" frame...i.e target pose can given w.r.t base link or laser link/camera link
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goal_id   -> ROS actionlib needs a unique id to do a action.
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Regards
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-Sankar
<br/> Jakob Schwendner
<a href="mailto:jakob.schwendner@dfki.de"><jakob.schwendner@dfki.de></a> hat am 15. September 2013 um 18:58 geschrieben:
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Hi Sankar,
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why do you need the frame_id and the goal_id? Otherwise you could just use base::Joints and RigidBodyState.
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cheers,
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Jakob
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<br/> On September 15, 2013 at 6:44 PM Sankaranarayanan Natarajan
<a href="mailto:sankaranarayanan.natarajan@dfki.de"><sankaranarayanan.natarajan@dfki.de></a> wrote:
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Hi Guys,
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I need some datatypes to handle motionplanner input and ouput. I was thinking for atleast for motionplanner input we can use exiting data types by adding two lines to the existing datatypes(z.Bb base/Pose) or a new datatype for motionplanner.. Anyhow a sample struct i have created...
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namespace base
<br/> {
<br/>         namespace motionplanner
<br/>         {
<br/>                 enum result
<br/>                 {
<br/>                         SUCCESSFUL              =  0,  
<br/>                         PLANNER_FAILED          = -1,
<br/>                         COLLISION_DETECTED      = -2,
<br/>                         IK_FAILED               = -3,
<br/>                         PATH_TOLERANCE_VIOLATED = -4,
<br/>                         GOAL_TOLERANCE_VIOLATED = -5
<br/>                 };
<br/>
<br/>                 struct Pose
<br/>                 {
<br/>                         base::Time time;
<br/>                         std::string frame_id;   // the pose is defined w.r.t this frame
<br/>                         std::string goal_id;    // unique id for a task
<br/>                         base::Pose targetpose;
<br/>                 };
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<br/>                 struct JointAngle
<br/>                 {    
<br/>                         base::Time time;
<br/>                         std::string frame_id;   // the pose is defined w.r.t this frame
<br/>                         std::string goal_id;    // unique id for a task
<br/>                         base::samples::Joints joints;
<br/>                 };    
<br/>
<br/>     }   
<br/> }
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Regards
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-Sankar
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--
<br/> Jakob Schwendner, M.Sc.
<br/> Researcher
<br/>
<br/> DFKI Bremen
<br/> Robotics Innovation Center
<br/> Robert-Hooke-Straße 5
<br/> 28359 Bremen, Germany
<br/>
<br/> Phone: +49 (0)421 17845-4120
<br/> Fax: +49 (0)421 17845-4150
<br/> E-Mail:
<a href="mailto:jakob.schwendner@dfki.de">jakob.schwendner@dfki.de</a>
<br/>
<br/> Weitere Informationen:
<a href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
<br/> -----------------------------------------------------------------------
<br/> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
<br/> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
<br/> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
<br/> (Vorsitzender) Dr. Walter Olthoff
<br/> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
<br/> Amtsgericht Kaiserslautern, HRB 2313
<br/> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
<br/> USt-Id.Nr.: DE 148646973
<br/> Steuernummer: 19/673/0060/3
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--
<br/> Jakob Schwendner, M.Sc.
<br/> Researcher
<br/>
<br/> DFKI Bremen
<br/> Robotics Innovation Center
<br/> Robert-Hooke-Straße 5
<br/> 28359 Bremen, Germany
<br/>
<br/> Phone: +49 (0)421 17845-4120
<br/> Fax: +49 (0)421 17845-4150
<br/> E-Mail:
<a href="mailto:jakob.schwendner@dfki.de">jakob.schwendner@dfki.de</a>
<br/>
<br/> Weitere Informationen:
<a href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
<br/> -----------------------------------------------------------------------
<br/> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
<br/> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
<br/> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
<br/> (Vorsitzender) Dr. Walter Olthoff
<br/> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
<br/> Amtsgericht Kaiserslautern, HRB 2313
<br/> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
<br/> USt-Id.Nr.: DE 148646973
<br/> Steuernummer: 19/673/0060/3
<br/> -----------------------------------------------------------------------
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<pre class="moz-signature"> </pre>
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--
<br/>Jakob Schwendner, M.Sc.
<br/>Researcher
<br/>
<br/>DFKI Bremen
<br/>Robotics Innovation Center
<br/>Robert-Hooke-Straße 5
<br/>28359 Bremen, Germany
<br/>
<br/>Phone: +49 (0)421 17845-4120
<br/>Fax: +49 (0)421 17845-4150
<br/>E-Mail: jakob.schwendner@dfki.de
<br/>
<br/>Weitere Informationen: http://www.dfki.de/robotik
<br/>-----------------------------------------------------------------------
<br/>Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
<br/>Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
<br/>Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
<br/>(Vorsitzender) Dr. Walter Olthoff
<br/>Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
<br/>Amtsgericht Kaiserslautern, HRB 2313
<br/>Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
<br/>USt-Id.Nr.: DE 148646973
<br/>Steuernummer: 19/673/0060/3
<br/>-----------------------------------------------------------------------
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