[Rock-dev] datatype for motionplanner
Jakob Schwendner
jakob.schwendner at dfki.de
Mon Sep 16 10:39:16 CEST 2013
Hi Sankar,
by sending a new goal, I would expect the old goal to be cancelled, no?
cheers,
Jakob
On September 16, 2013 at 10:30 AM Sankaranarayanan Natarajan
<sankar.natarajan at dfki.de> wrote:
> HI Jakob,
>
> 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...
>
> Anyhow, i will try to find a way to use without any "goal_id" :)
>
> Regards
> -Sankar
> On 09/16/2013 08:41 AM, Jakob Schwendner wrote:
>
> > > Hi Sankar,
> >
> > 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.
> >
> > The problem with introducing new types is that it will make it much
> > more difficult to plug in existing modules.
> > And so far, I don't really see a compelling reason (but of course
> > might have missed something).
> >
> > cheers,
> >
> > Jakob
> >
> > On September 15, 2013 at 7:56 PM Sankaranarayanan Natarajan
> > <sankaranarayanan.natarajan at dfki.de>
> > <mailto:sankaranarayanan.natarajan at dfki.de> wrote:
> >
> > > > > Hi Jakob,
> > >
> > > 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
> > > goal_id -> ROS actionlib needs a unique id to do a action.
> > >
> > > Regards
> > > -Sankar
> > > Jakob Schwendner <jakob.schwendner at dfki.de>
> > > <mailto:jakob.schwendner at dfki.de> hat am 15. September 2013 um 18:58
> > > geschrieben:
> > >
> > > > > > > Hi Sankar,
> > > >
> > > > why do you need the frame_id and the goal_id? Otherwise you could
> > > > just use base::Joints and RigidBodyState.
> > > >
> > > > cheers,
> > > >
> > > > Jakob
> > > >
> > > > On September 15, 2013 at 6:44 PM Sankaranarayanan Natarajan
> > > > <sankaranarayanan.natarajan at dfki.de>
> > > > <mailto:sankaranarayanan.natarajan at dfki.de> wrote:
> > > >
> > > > > > > > > Hi Guys,
> > > > >
> > > > > 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...
> > > > >
> > > > > namespace base
> > > > > {
> > > > > namespace motionplanner
> > > > > {
> > > > > enum result
> > > > > {
> > > > > SUCCESSFUL = 0,
> > > > > PLANNER_FAILED = -1,
> > > > > COLLISION_DETECTED = -2,
> > > > > IK_FAILED = -3,
> > > > > PATH_TOLERANCE_VIOLATED = -4,
> > > > > GOAL_TOLERANCE_VIOLATED = -5
> > > > > };
> > > > >
> > > > > struct Pose
> > > > > {
> > > > > base::Time time;
> > > > > std::string frame_id; // the pose is
> > > > > defined w.r.t this frame
> > > > > std::string goal_id; // unique id
> > > > > for a task
> > > > > base::Pose targetpose;
> > > > > };
> > > > >
> > > > > struct JointAngle
> > > > > {
> > > > > base::Time time;
> > > > > std::string frame_id; // the pose is
> > > > > defined w.r.t this frame
> > > > > std::string goal_id; // unique id
> > > > > for a task
> > > > > base::samples::Joints joints;
> > > > > };
> > > > >
> > > > > }
> > > > > }
> > > > >
> > > > >
> > > > > Regards
> > > > > -Sankar
> > > > >
> > > > > > > > >
> > > > --
> > > > Jakob Schwendner, M.Sc.
> > > > Researcher
> > > >
> > > > DFKI Bremen
> > > > Robotics Innovation Center
> > > > Robert-Hooke-Straße 5
> > > > 28359 Bremen, Germany
> > > >
> > > > Phone: +49 (0)421 17845-4120
> > > > Fax: +49 (0)421 17845-4150
> > > > E-Mail: jakob.schwendner at dfki.de
> > > > <mailto:jakob.schwendner at dfki.de>
> > > >
> > > > Weitere Informationen: http://www.dfki.de/robotik
> > > > <http://www.dfki.de/robotik>
> > > >
> > > > -----------------------------------------------------------------------
> > > > Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
> > > > Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
> > > > Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
> > > > (Vorsitzender) Dr. Walter Olthoff
> > > > Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
> > > > Amtsgericht Kaiserslautern, HRB 2313
> > > > Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
> > > > USt-Id.Nr.: DE 148646973
> > > > Steuernummer: 19/673/0060/3
> > > >
> > > > -----------------------------------------------------------------------
> > > >
> > > > > > >
> > >
> > > > >
> > --
> > Jakob Schwendner, M.Sc.
> > Researcher
> >
> > DFKI Bremen
> > Robotics Innovation Center
> > Robert-Hooke-Straße 5
> > 28359 Bremen, Germany
> >
> > Phone: +49 (0)421 17845-4120
> > Fax: +49 (0)421 17845-4150
> > E-Mail: jakob.schwendner at dfki.de <mailto:jakob.schwendner at dfki.de>
> >
> > Weitere Informationen: http://www.dfki.de/robotik
> > <http://www.dfki.de/robotik>
> > -----------------------------------------------------------------------
> > Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
> > Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
> > Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
> > (Vorsitzender) Dr. Walter Olthoff
> > Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
> > Amtsgericht Kaiserslautern, HRB 2313
> > Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
> > USt-Id.Nr.: DE 148646973
> > Steuernummer: 19/673/0060/3
> > -----------------------------------------------------------------------
> >
> > >
>
>
--
Jakob Schwendner, M.Sc.
Researcher
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 17845-4120
Fax: +49 (0)421 17845-4150
E-Mail: jakob.schwendner at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
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