Only released in EOL distros:
orocos_controllers: fake_servo | joint_spline_trajectory_generator | oro_controllers_manager | oro_joint_state_publisher | oro_joint_trajectory_action
Package Summary
Documented
oro_joint_trajectory_action
- Author: Konrad Banachowicz
- License: BSD
- Source: git https://github.com/RCPRG-ros-pkg/orocos_controllers.git (branch: electric)
orocos_controllers: fake_servo | joint_spline_trajectory_generator | oro_controllers_manager | oro_joint_state_publisher | oro_joint_trajectory_action
Package Summary
Documented
oro_joint_trajectory_action
- Author: Konrad Banachowicz
- License: BSD
- Source: git https://github.com/RCPRG-ros-pkg/orocos_controllers.git (branch: electric)
Contents
Overview
This component act as JointTrajectoryAction server from within OROCOS controller. After receiving JointTrajectoryAction goal, it checks its validity then feeds trajectory generator with received points.
OROCOS API
Properties
number_of_joints (int)
- Number of joints used by trajectory generation.
- Those properties is used for mapping internal joint number X to joint name used in ROS.
Action interface
Input ports
goal (pr2_controllers_msgs/JointTrajectoryActionGoal)
- The goal describes the trajectory for the robot to follow.
- A request to cancel a specific goal.
Output ports
feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)
- Feedback describing the progress the mechanism is making on following the trajectory.
- Provides status information on the goals that are sent to the action.
- empty
Trajectory interface
Input ports
buffer_ready (invalid message type for MsgLink(msg/type))
- This indicates that the trajectory generator is ready to receive a new point.
Output ports
trajectory_point (trajectory_mags/JointTrajectoryPoint)
- New point of trajectory for trajectory generator.
