[Rock-dev] New JointState / Joints representation type
Sylvain Joyeux
sylvain.joyeux at dfki.de
Thu May 30 16:24:58 CEST 2013
Following the discussions a month or two back, and after a discussion
between some DFKI people to cross-reference between what is done in ROS
as well as our various needs, we settled on a type design to represent
the state of joints, for both control and status purposes.
The resulting types are:
base::JointState - representation of a single joint state
http://gitorious.org/rock-base/types/blobs/joint_state/base/JointState.hpp
base::samples::Joints - representation of a set of joints
http://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp
<https://gitorious.org/rock-base/types/blobs/joint_state/base/samples/Joints.hpp>
base::commands::Joints - representation of the command of a set of joints
http://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp
<https://gitorious.org/rock-base/types/blobs/joint_state/base/commands/Joints.hpp>
These are currently available on the joint_state branch of the following
packages: base/types, base/orogen/types, base/types_ruby.
Moreover, a simple IR filter that converts position into speeds has been
added in control/motor_controller
(motor_controller::IRSpeedFromPositionFilter), onto a joint_state branch
as well. The PIDTask from control/orogen/motor_controller has also been
adapted (joint_state branch)
Please comment / (constructively) criticize. It is important that we get
this one right.
To get all of those, add the following to the overrides: section of your
autoproj/overrides.yml:
- base/types:
branch: joint_state
- base/orogen/types:
branch: joint_state
- base/types_ruby:
branch: joint_state
- control/motor_controller:
branch: joint_state
- control/orogen/motor_controller:
branch: joint_state
--
Sylvain Joyeux (Dr.Ing.)
Senior Researcher
Space & Security Robotics
Underwater Robotics
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