[Rock-dev] datatype for motionplanner

[Jakob Schwendner]

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> 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> 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> 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
> > 
> >   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
> >   -----------------------------------------------------------------------
> > 
> >  > 
> 

--
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
-----------------------------------------------------------------------
-------------- next part --------------
An HTML attachment was scrubbed...
URL: http://www.dfki.de/pipermail/rock-dev/attachments/20130916/d36f031f/attachment.htm